Robust Adaptive Sliding Mode Control Method for Flexible Articulated Space Station Manipulator

Abstract

The invention discloses a robust self-adaptive sliding mode control method for a manipulator of a flexible hinge space station. The present invention first analyzes and establishes a system dynamics model in which the position and attitude of the carrier of the manipulator system of the flexible hinge space station are not controlled by the Lagrangian method of the second type and in combination with the conservation relationship of the system momentum and moment of momentum; then, for the space station In the actual application of the manipulator, the joints have strong flexibility. The joint flexibility compensation controller is introduced and combined with the dual time scale decomposition of the singular perturbation theory, and the singular perturbation mathematical model suitable for the design of the control system is derived. Furthermore, using this model, the manipulator system of the flexible joint space station is decomposed into two independent fast-slow variable subsystems, a robust adaptive sliding mode control is designed for the slow-variable subsystem, and a torque differential feedback controller is designed for the fast-variable subsystem . In order to achieve the control goal of not only eliminating the negative impact of flexible hinges on the positioning accuracy and stability of the space station manipulator, but also effectively overcoming the chattering problem of traditional sliding mode control.

Description

technical field [0001] The invention belongs to the technical field of space station manipulator control. Specifically, it relates to a robust adaptive sliding mode control method for a manipulator of a flexible hinge space station. Background technique [0002] The robotic arm of the space station mainly works in the microgravity space environment, and can better assist (or replace) astronauts to complete various extremely dangerous space tasks, and has become an important carrier tool for human deep space exploration. At present, all countries in the world have invested a lot of manpower, material resources and financial resources in the research of space station robotic arms, and have achieved a lot of scientific research results. However, looking at the above research results, it is not difficult to find that most of the work is limited to the research of rigid joint space robots, and there are few studies on flexible joint space station manipulators. Flexibility trend...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robust self-adaptive sliding mode control method for the space station manipulator with flexible hinges, so as to eliminate the negative impact of flexible hinges on the positioning accuracy and stability of the space station manipulator and effectively The control objective to effectively overcome the chattering problem of traditional sliding mode control

In order to achieve the control goal of not only eliminating the negative impact of flexible hinge flexibility on the positioning accuracy and stability of the space station manipulator, but also effectively overcoming the chattering problem of traditional sliding mode control

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