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讨论了在输入受限的情况下,漂浮基双臂空间机器人抓持负载后转移目标过程中的建模与自适应控制问题。利用拉格朗日第二类方程建立了开链空间机器人系统动力学模型,之后结合闭链系统的闭环约束条件,获得了闭链双臂空间机器人系统的动力学方程。在这个基础上,考虑到双臂空间机器人及负载存在参数不确定,系统存在外部扰动及输入力矩有限的情况,设计了自适应控制方案,以完成对载荷位置和姿态运动的精确控制。由带饱和函数的控制律限制输入力矩,采用自适应控制器逼近系统的不确定度。方案中利用高精度滤波器估计系统速度及角速度,从而仅需测量其位置信息。通过Lyapunov方法证明了系统的稳定性。最后通过数值仿真实验模拟了平面双臂空间机器人转移目标过程,并证实了上述控制方案的有效性。
The modeling and adaptive control of the floating-base dual-arm space robot during load transfer are discussed under the limited input. The system dynamics model of open-chain space robot is established by using Lagrange’s second-type equation. Then the dynamic equations of closed-chain dual-arm space robot system are obtained by the closed-loop constraints of closed-chain system. On this basis, taking into account the uncertain parameters of the dual-arm space robot and the load, the system has external disturbances and limited input torque, an adaptive control scheme is designed to achieve precise control of load position and attitude. The input torque is limited by the control law with the saturation function and the adaptive controller is used to approximate the system uncertainty. The scheme uses a high-precision filter to estimate the system velocity and angular velocity, so that only its position information needs to be measured. The stability of the system is proved by Lyapunov method. Finally, numerical simulation experiments simulate the transfer process of planar two-arm space robot and verify the effectiveness of the above control scheme.