A method for realizing space manipulator flexible joint backlash compensation

Abstract

The invention provides a method for achieving tooth space compensation for a flexible joint of a space manipulator. The method comprises the following steps that the position command signals yd of a direct current motor and the position signals y output by a kinetic model, with space influences taken into consideration, of the flexible joint of the space manipulator are collected, a sliding mode variable structure controller is designed, and a sliding-mode control law is obtained; the control input of a control system of the flexible joint after linear decoupling processing is carried out is obtained by adopting a differential geometry feedback linearization method according to the sliding-mode control law; according to the control input of the control system of the flexible joint after linear decoupling processing is carried out, a disturbance observer is designed for the kinetic model, with the space influences taken into consideration, of the flexible joint of the space manipulator, the control input, under compensation space nonlinear influences, of the flexible joint, and therefore it is guaranteed that the position output of the control system tracks the expected position signals with needed precision. According to the technical scheme of the method for achieving the tooth space compensation for the flexible joint of the space manipulator, influences of the space on the system position precision can be compensated for effectively, high-precision tracking control can be achieved, and the happening frequency of the buffeting phenomenon is reduced at the same time.

Description

【Technical field】 [0001] The invention relates to automatic control technology, in particular to a method for realizing space manipulator flexible joint backlash compensation. 【Background technique】 [0002] Planetary gear transmission joints are widely used in large-scale space manipulators with long life cycles due to their large load-carrying capacity, high reliability, and long life. During the operation of the space manipulator in space, the existence of gaps will cause the manipulator to vibrate violently, which will reduce the working accuracy of the manipulator, and then lead to the failure of the manipulator to perform tasks. Especially in actual engineering, as the operating time of the manipulator goes on, the wear and tear will make the gap continue to increase, which will further lead to the reduction of the precision and working performance of the manipulator until it fails to meet the requirements of use. Therefore, it is necessary to study the nonlinear char...

AI Technical Summary

Problems solved by technology

Due to the advantages and good robustness of sliding mode control in dealing with uncertain parameters of the system, the sliding mode control method is generally used to compensate the system in current research, but it has chattering problems.

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