| 漂浮基柔性空间机械臂关节运动增广变结构控制及柔性振动主动抑制 |
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| 引用本文： | 洪昭斌,陈力. 漂浮基柔性空间机械臂关节运动增广变结构控制及柔性振动主动抑制[J]. 工程力学, 2011, 0(1): 219-225,256 |
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| 作者姓名： | 洪昭斌 陈力 |
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| 作者单位： | 福州大学机械工程及自动化学院; |
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| 基金项目： | 国家自然科学基金项目(10672040); 福建省自然科学基金项目(E0410008) |
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| 摘 要： | 讨论了载体位置、姿态均不受控制情况下,漂浮基柔性空间机械臂系统基于混合轨迹的关节运动增广变结构控制,该控制方案能够同时主动抑制柔性杆产生的振动.基于一般期望轨迹的增广变结构控制仅能完成渐近解耦的关节空间轨迹追踪,并不能抑制柔性杆的振动;为了对柔性振动模态进行主动控制,使用虚拟控制力的观念生成了同时反映关节期望轨迹和柔性...
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| 关 键 词： | 漂浮基柔性空间机械臂 混合轨迹 增广变结构控制 柔性振动控制 虚拟控制力 |
AVSC CONTROL IN JOINT SPACE AND ACTIVE VIBRATION SUPPRESSION FOR FREE-FLOATING SPACE FLEXIBLE MANIPULATOR BASED ON HYBRID TRAJECTORY |
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| HONG Zhao-bin,CHEN Li. AVSC CONTROL IN JOINT SPACE AND ACTIVE VIBRATION SUPPRESSION FOR FREE-FLOATING SPACE FLEXIBLE MANIPULATOR BASED ON HYBRID TRAJECTORY[J]. Engineering Mechanics, 2011, 0(1): 219-225,256 |
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| Authors: | HONG Zhao-bin CHEN Li |
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| Affiliation: | HONG Zhao-bin,CHEN Li(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China) |
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| Abstract: | The Augmented Variable Structure Control(AVSC) based on a hybrid trajectory in a joint space is proposed for the free-floating space flexible manipulator with a completely uncontrolled base.The AVSC law alone,which is designed to track the common desired trajectory of joint angles,does not guarantee the stability of the flexible mode dynamics of the flexible link.In order to actively suppress the flexible vibration,the hybrid trajectory for the AVSC are generated using a virtual control force concept,so tha... |
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| Keywords: | free-floating space flexible manipulator hybrid trajectory AVSC vibration suppression virtual control force |
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