柔性关节航空航天机械臂抗干扰控制研究
Research on Anti-disturbance Control for Flexible Joints Aerospace Robotic Arms
郇新 1李珺 2魏明鉴 2王鑫洋2
作者信息
- 1. 潍坊工程职业学院机电工程学院,山东潍坊 262500;吉林大学电子科学与工程学院,吉林长春 130061
- 2. 潍坊工程职业学院机电工程学院,山东潍坊 262500
- 折叠
摘要
航空航天机械臂具有柔性且对精度要求高,为抑制空间环境力矩和内部参数变化等干扰,提出了一种基于干扰观测器的航空航天机械臂反步控制策略.首先,建立柔性关节航空航天机械臂受干扰时的单关节数学模型,基于数学模型设计柔性关节航空航天机械臂的非线性干扰观测器,保证其能稳定估计干扰信号;然后,基于Lyapunov函数设计反步控制器,将干扰观测器估计到的干扰估计值补偿到反步控制器端,产生抑制实际干扰的控制量;最后,利用MAT-LAB/simulink搭建虚拟仿真进行验证.仿真结果表明,基于干扰观测器的柔性关节航空航天机械臂反步控制器能够有效抑制干扰,极大地改善了柔性关节航空航天机械臂的抗干扰性能.
Abstract
In response to the flexibility and high precision requirements of aerospace robotic arms,a disturbance observer-based backstepping control strategy for aerospace robotic arms is proposed to sup-press disturbances such as space environmental torque and internal parameters variation.This strategy can accurately,stably,and smoothly track command signals in different scenarios.Firstly,establish the single joint mathematical model of the flexible joints aerospace robotic arm to the mode under disturb-ance,design a nonlinear disturbance observer for aerospace robotic arm based on mathematical models,and ensure that it can stably estimate interference signals.Then,design a backstepping controller based on the Lyapunov function,compensate the estimated disturbance value by the disturbance observer to the backstepping controller,and generate control quantities to suppress actual disturbance.Finally,use MATLAB/Simulink to build a virtual simulation for verification.The simulation results show that the backstepping controller of a flexible joint aerospace robotic arm based on disturbance observer can effec-tively suppress disturbance,and greatly improve the anti-disturbance performance of flexible joint aero-space robotic arm.
关键词
干扰观测器/柔性关节航空航天机械臂/抗干扰/反步控制Key words
disturbance observer/flexible joints aerospace robotic arm/anti-disturbance/backstepping control引用本文复制引用
出版年
2024
NETL
NSTL
万方数据