【摘要】：研究了空間機(jī)器人系統(tǒng)捕獲不確定參數(shù)目標(biāo)時(shí)發(fā)生碰撞的沖擊效應(yīng)及之后的穩(wěn)定控制問(wèn)題。利用多剛體系統(tǒng)理論獲得空間機(jī)器人及目標(biāo)動(dòng)力學(xué)模型。利用運(yùn)動(dòng)幾何關(guān)系及機(jī)械臂末端與目標(biāo)物之間力的傳遞關(guān)系,分析了空間機(jī)械臂捕獲目標(biāo)的沖擊影響。針對(duì)完成捕獲操作后的聯(lián)合體系統(tǒng)存在參數(shù)不確定及外部擾動(dòng)的情況,提出了雙冪次滑模神經(jīng)網(wǎng)絡(luò)方案。利用快速雙冪次滑模趨近律保證了系統(tǒng)的收斂速度,運(yùn)用神經(jīng)網(wǎng)絡(luò)逼近系統(tǒng)的參數(shù)不確定項(xiàng)及外部擾動(dòng),上述控制方案具有抑制抖振的效果�；诶钛牌罩Z夫方法,設(shè)計(jì)了權(quán)值自適應(yīng)律,證明了系統(tǒng)的全局穩(wěn)定性。計(jì)算機(jī)數(shù)值仿真實(shí)驗(yàn)?zāi)M了碰撞沖擊效應(yīng),驗(yàn)證了上述控制方案的有效性。
[Abstract]:In this paper, the impact effect of collision and the problem of stability control are studied when the space robot system catches the target with uncertain parameters. The dynamic model of space robot and target is obtained by using the theory of multi-rigid body system. Based on the kinematic geometry and the force transfer relationship between the end of the manipulator and the target, the impact of the target captured by the space manipulator is analyzed. In view of the uncertainty of the parameters and the external disturbance of the system after the acquisition operation, a double-power sliding mode neural network scheme is proposed. The convergence rate of the system is guaranteed by using the fast double power sliding mode approach law. The neural network is used to approximate the parameter uncertainty and the external disturbance of the system. The above control scheme has the effect of suppressing buffeting. Based on Lyapunov method, a weighted adaptive law is designed, and the global stability of the system is proved. The impact effect is simulated by computer numerical simulation, and the effectiveness of the control scheme is verified.
【作者單位】： 福州大學(xué)機(jī)械工程及自動(dòng)化學(xué)院福建省高端裝備制造協(xié)同創(chuàng)新中心;
【基金】：國(guó)家自然科學(xué)基金(11372073,11072061) 福建省工業(yè)機(jī)器人基礎(chǔ)部件技術(shù)重大研發(fā)平臺(tái)(2014H21010011)
【分類號(hào)】：TP183;TP242
，

本文編號(hào)：2171057