黄登峰, 陈力. 漂浮基柔性空间机械臂关节运动的分块神经网络控制及柔性振动模糊控制[J]. 工程力学, 2012, 29(5): 230-236,250.
引用本文: 黄登峰, 陈力. 漂浮基柔性空间机械臂关节运动的分块神经网络控制及柔性振动模糊控制[J]. 工程力学, 2012, 29(5): 230-236,250.
HUANG Deng-feng, CHEN Li. PARTITIONED NEURAL NETWORK CONTROL AND FUZZY VIBRATION CONTROL FOR FREE-FLOATING SPACE FLEXIBLE MANIPULATOR[J]. Engineering Mechanics, 2012, 29(5): 230-236,250.
Citation: HUANG Deng-feng, CHEN Li. PARTITIONED NEURAL NETWORK CONTROL AND FUZZY VIBRATION CONTROL FOR FREE-FLOATING SPACE FLEXIBLE MANIPULATOR[J]. Engineering Mechanics, 2012, 29(5): 230-236,250.

漂浮基柔性空间机械臂关节运动的分块神经网络控制及柔性振动模糊控制

PARTITIONED NEURAL NETWORK CONTROL AND FUZZY VIBRATION CONTROL FOR FREE-FLOATING SPACE FLEXIBLE MANIPULATOR

  • 摘要: 讨论了载体位置不受控、姿态受控情况下,漂浮基柔性空间机械臂关节运动及柔性振动主动抑制的控制问题。由系统动量守恒关系及假设模态法,利用拉格朗日方法建立了漂浮基柔性空间机械臂的系统动力学方程。之后采用奇异摄动理论,将其分解为表示刚性运动的慢变子系统和柔性振动的快变子系统。据此,设计了柔性空间机械臂系统载体姿态及机械臂关节铰协调运动的组合控制器。针对慢变子系统——柔性空间机械臂的刚性运动,设计了分块神经网络控制器,以完成系统参数未知情况下关节空间协调运动的轨迹跟踪;而对于快变子系统——柔性臂的振动,则设计了模糊控制器来主动抑制柔性杆的振动。数值仿真证实了提出方法的有效性。

     

    Abstract: The trajectory tracking and vibration suppression control of free-floating space flexible manipulator with an attitude controlled base are discussed. With the law of conservation of momentum, the Lagrangian principle is utilized to model the dynamic function of the space flexible manipulator incorporating the assumed modes method. Using singular perturbation theory, a slow subsystem describing the rigid motion and a fast subsystem corresponding to the flexible motion are obtained. Then, a composite controller for coordinated motion between the base’s attitude and the manipulator’s joints of space flexible manipulator system is designed. The slow-subsystem partitioned neural network controller dominates the trajectory tracking of coordinated motion in joint space in the presence of unknown parameters. The fast-subsystem controller damps out the vibration of the flexible link by fuzzy logic controller. Numerical simulation results illustrate the effectiveness of the proposed controller.

     

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