【作者】 张猛；

【导师】 徐光延；

【作者基本信息】 沈阳航空航天大学 ， 模式识别与智能系统， 2012， 硕士

【摘要】 针对多刚体空间机器人存在的弱扰动惯性力矩(由本体姿态运动产生的扰动力矩、以及由科氏力和离心力产生的扰动力矩等),由于动力学关系的复杂性,空间机器人弱扰动惯性力矩的计算是非常耗时的,同时由于参数的不确定性和机器人运动测量精度的限制,其精确计算也往往是困难的。本文用李雅普诺夫法设计了鲁棒控制器,不但在系统参数发生变化的情况下具有鲁棒性,而且实时性很好。本文在所提出的鲁棒控制器中设计了合适的补偿控制量,对机器人的弱扰动惯性力矩进行补偿,降低了控制算法的复杂程度,极大地减少了计算时间。在补偿控制量的计算上,本文应用粒子群算法(PSO)搜索出机器人弱扰动惯性运动系数矩阵的约束空间,解决了估计弱扰动惯性力矩的技术障碍。动力学仿真表明本文提出的控制器具有很好的鲁棒性和实时性,而且在某些任务空间内,补偿控制量可以在一定程度上抵消未补偿的控制量,从而减小输出控制力矩。此外,应用设计的控制器对2关节与6关节空间机器人进行轨迹跟踪控制仿真,对比分析了2关节与6关节空间机器人的实时性,通过该分析,进一步证明了设计的鲁棒控制器具有较好的实时性和鲁棒性。最后,对空间机器人的在姿态进行控制,验证了姿态与轨迹跟踪之间的耦合关系,在轨迹跟踪控制精度提高的同时能够进一步提高姿态运动的快速性和准确性。更多还原

【Abstract】 According to space robot with weak disturbing inertial torque(disturbing torque produced by the attitude motion of Base and produced by Coriolis and Centrifugal forces), Firstly, the calculation of weak disturbing inertial torque of the space robot is extraordinarily time consumption for the complexity of dynamics. Meanwhile, for the parameters uncertainties and the limitation of measuring accuracy of the motion parameters, it is difficult to calculate it exactly. In the thesis, robust controller is designed based on the method of Lyapunov. The controller has good robust and excellent real time when the system parameters of space manipulator have some variations.In the thesis, there is suitable control to compensate weak disturbing inertial torque. Besides, the algorithm complexity of controller is decreased and the time consumption of the control is greatly reduced. PSO algorithm is applied to optimize the weak disturbing inertial matrix of the constrained space and the technical obstacle of weak disturbing inertial torque estimate is solved.Simulation shows that there are good robust and real time. In some task space, the uncompensated control can be compensated by the compensation. Therefore, the control torque can be reduced. Besides, the controller is respectively applied to control 2 joint and 6 joint space manipulators. Robust controller is proved that there is good real time and robust by the comparison and analysis of the 2 joint and 6 joint space robot. Finally, the coupling relationship is verified by attitude control. The simulated results show that the accuracy and rapidity of the responsibility can be improved while the precision of the trajectory tracking is improved.更多还原