【作者】 张水参；

【导师】 马云辉； 付宜利；

【作者基本信息】 哈尔滨工业大学 ， 机械电子工程， 2009， 硕士

【摘要】 随着人类空间活动的不断发展,在未来的空间活动中,将有大量的空间生产、空间加工、空间装配、空间维修等工作进行。这些工作不可能完全由宇航员完成,因为宇航员到太空成本高、风险大。因此必须充分利用空间机器人。而漂浮基空间机械臂由于采用自由漂浮工作模式,可节省燃料,延长使用寿命、降低成本。因此,国内外许多学者对此种空间机械臂的运动学、动力学、控制等方面进行了广泛的研究。空间机械臂在环境恶劣的太空中工作,会受到许多不确定性因素影响。讨论具有不确定性的漂浮基空间机械臂的动力学、控制等问题具有理论与实际意义,同时也比较复杂。因此,本文主要针对受自身参数不确定和外部干扰影响的不确定性漂浮基空间机械臂系统,对其动力学与控制方面进行研究。本文首先基于扩展机械臂模型,采用Lagrange方程法,考虑时变参数、外部干扰等不确定性因素,建立任务空间中漂浮基空间机械臂的动力学模型,分析了载体受到的干扰对机械臂产生的影响。并对漂浮基空间机械臂的运动特性(非完整性和姿态干扰特性)进行仿真研究。其次,针对存在时变参数(滑变参数和跳变参数)和外部干扰的不确定性漂浮基空间机械臂系统,采用经艾格尼西箕舌线修改的σ?修改法对自适应控制器进行鲁棒性修改,分析修改后的自适应鲁棒控制器对时变参数(滑变参数和跳变参数)和外部干扰的鲁棒性。最后,针对不确定性漂浮基空间机械臂系统,假设时变参数的变化范围、外部干扰的界已知,设计变结构鲁棒控制器,对其进行边界层修改以消除颤振现象。然后,针对时变参数的变化范围、外部干扰界未知的情况,结合自适应控制和变结构鲁棒控制方法设计自适应变结构控制器,同时对其进行了稳定性和鲁棒性分析。另外,本文利用Matlab的GUI工具设计了仿真界面,该仿真界面集成了漂浮基空间机械臂的运动特性仿真、自适应鲁棒控制仿真和变结构鲁棒控制仿真。对所提的控制算法进行仿真研究,并对仿真结果进行对比分析,验证所提方法的有效性。更多还原

【Abstract】 With the development of people’s space activities, more and more works such as manufacture, machining, assemblage, maintenance in space will be developed in the future. These works can’t be completed only by astronauts because of high cost and high risk of sending people to the space. Therefore people should take full advantage of space robots. Free floating is one of the most important control modes. This mode can reduce the usage of expensive fuel, extend the life of the space robots and cut a lot of cost. Therefore, there are lots of literatures all over the world addressing the kinematics, dynamics and control method of this kind of space robots.The atrocious surroundings of the space make space robots be disturbed by many uncertain factors. By far, there have been few literatures addressing the dynamics and control method of space manipulators with uncertainties. Therefore, in this thesis, the dynamics and control method of float-vehicle space manipulators with uncertainties (including parameters uncertainty and external disturbances) will be studied.Firstly, based on the extended robot model of You-Liang Gu, using Lagrange method, considering the uncertainties of parameters and external disturbances, this thesis deduced the dynamic equation of float-vehicle space manipulators in task space, and discovered the action on manipulators, produced by the disturbances the base affected. Moreover the kinematics characters such as nonholonomic character and attitude-disturb character were studied by simulating.Secondly, based on the dynamic equation in task space of float-vehicle space manipulators with time varying parameters and external disturbances, considering time varying parameters(smooth and jump ) and external disturbances, in order to improve the robustness of the controller, this thesis modified the adaptive controller usingσ? modify method and analyzed the robustness of the system.Finally, for float-vehicle space manipulators with time varying parameters and external disturbances, assuming that the bounds of parameters and external disturbances are known, this thesis designed a variable structure controller, and used boundary-layer-modify method to eliminate“chattering”. At last, for the case that the bounds of parameters and external disturbances are not known, this thesis designed an adaptive variable structure controller.Meanwhile, the stability and effectivity of each kind of proposed controller were proved both with theoretic and simulation study. For the convenience of simulation study, this thesis designed a simulation interface using GUI tools of Matlab. The simulation interface integrates the simulation study of kinematic character analysis, adaptive robust control method and adaptive variable structure control method. By analyzing the simulation result, the effectivity of every proposed controller was validated.更多还原