Trajectory Tracking Hybrid Control and Vibration Suppression of Free-floating Multi-flexible Space Robot with Limited Input
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摘要: 空间机器人在实际运作中往往会遇到控制系统输入受限的情况，这将严重影响系统的控制品质。考虑输入受限的情况，对漂浮基多柔性空间机器人系统进行研究。通过对系统进行运动学和动力学分析，构建系统的动力学方程。采用奇异摄动方法，将刚柔耦合系统分为慢变子系统和快变子系统，并为各个子系统设计控制方法。最终提出由改进的鲁棒滑模模糊控制方法、速度差值反馈控制法和线性二次最优控制方法组成的混合控制方法。该控制方法能够主动减小空间机器人完成期望运动所需的力矩，使系统适应输入受限的工作条件；同时能够补偿系统的不确定参数和外部干扰，最终实现系统运动的精确控制和振动的主动抑制。仿真对比实验证明了在输入受限的情况下，所提出的混合控制方法的有效性和强适应性。Abstract: In the actual operation of a space robot, the input of the control system is often limited, which will seriously affect the control quality of the system. In this paper, a flexible space robot system based on floating substrate is studied with limited input. The system’s dynamics equation is established through the system’s kinematics and dynamics analysis. For the rigid-flexible coupling system, the singular perturbation method decomposes the system into slow and fast independent subsystems, and control methods are designed for each subsystem. Finally, a hybrid control method consisting of an improved robust sliding mode fuzzy control method, a velocity difference feedback control, and a linear-quadratic optimal control is proposed. The control method can actively reduce the torque required by the space robot to complete the desired movement and make the system adapt to the working conditions with limited input. At the same time, it can compensate for the uncertain parameters and external disturbance and realize the precise control of the system motion and active suppression of vibration. Simulation experiments show that the proposed hybrid control method is effective and adaptable when limited input.
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Key words:
- Free-floating space robot /
- Limited input /
- Flexible /
- Motion control /
- Vibration suppression
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图 2 柔性杆
$ {{{B}}_{{i}}} $ 的弹性变形Figure 2. Elastic deformation of the flexible link
$ {{{B}}_{{i}}} $ 
图 4 输入变量
$ \left\| {\boldsymbol{y}} \right\| $ 和$ \left\| {\dot {\boldsymbol{y}}} \right\| $ 的隶属度函数Figure 4. Membership function of
$ \left\| {\boldsymbol{y}} \right\| $ and$ \left\| {\dot {\boldsymbol{y}}} \right\| $ 
图 15 关闭快变控制器
$ {\tau _{\rm{f}}} $ 后关节转角的运动轨迹Figure 15. Trajectory of the joint angle when
$ {\tau _{\rm{f}}} $ is closed
图 16 关闭快变控制器
$ {\tau _{\rm{f}}} $ 后柔性杆$ {{{B}}_2} $ 的模态坐标Figure 16. Mode coordinate of flexible link
$ {{{B}}_2} $ when$ {\tau _{\rm{f}}} $ is closed
图 17 关闭快变控制器
$ {\tau _{\rm{f}}} $ 后柔性杆$ {{{B}}_2} $ 末端变形Figure 17. Deformation of flexible link
$ {{{B}}_2} $ when$ {\tau _{\rm{f}}} $ is closed
图 18 关闭模糊控制器后关节转角的运动轨迹
Figure 18. Trajectory of the joint angle when the fuzzy control is closed
图 19 关闭模糊控制器后柔性杆
$ {{{B}}_2} $ 的模态坐标Figure 19. Mode coordinate of
$ {{{B}}_2} $ when the fuzzy control is closed表 1 仿真的漂浮基空间机器人系统参数
Table 1. System parameters of the simulated free-floating space robot
质量/kg 转动惯量/(kg·m2) 长度/m 密度/(kg·m–1) 刚性系数/(N·m·rad–1) 刚性基座 100 34.17 1.5 － － 杆$ {{B}}{}_1 $ 不确定 不确定 不确定 不确定 不确定 杆$ {{B}}{}_2 $ 不确定 不确定 不确定 不确定 不确定 电机转子1 0 0.5 － － 300 电机转子2 0 0.5 － － 300 
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