柔性臂杆、柔性关节空间机械臂T-S模糊轨迹跟踪及双柔振动并行综合控制

摘要

Aimed at the problems of flexible-link flexible-j oint space manipulator with parameter uncer-tainties and external disturbances to track the desired motion,the T-S fuzzy control and double-flexible vibra-tion parallel control were proposed.Firstly,a j oint flexibility compensation controller was introduced to im-prove the equivalent stiffness of each j oint.Secondly,the error dynamic equations were obtained based on feedback linearization in the traj ectory tracking procedure, and control parameters of fuzzy control was selected by Lyapunov stability theory.Subsequently,the fuzzy sliding mode control was improved with simple T-S fuzzy rules.The great advantage of proposed control is free of undesirable chattering phenomenon in slid-ing mode control and light burden of computations.Then,the double-flexible parallel control was presented to suppress the vibration of flexible links.Finally,the simulation results on a space manipulator demonstrate the validity of the proposed control scheme.%针对存在参数不确定和外界干扰的柔性臂杆、柔性关节空间机械臂追踪期望运动的问题，设计了基于T-S模糊模型的滑模鲁棒控制方案和双柔性振动并行控制方案。首先，设计了关节柔性补偿器以提高系统的等效关节刚度。其次，利用反馈线性化技术建立了系统追踪期望轨迹的误差动力学方程，通过对系统Lyapunov稳定性证明来选择滑模控制参数；简化并改进T-S模糊推理规则，提出了模糊滑模鲁棒控制方法，可解决滑模控制的抖振问题并具有计算量少、控制力矩小的优点。再次，提出了柔性臂杆振动模态的直接反馈控制方案，解决了双柔性并行综合控制的问题。最后，运用逐步仿真的方法，对比仿真结果，证实了所设计轨迹跟踪、双柔性并行综合控制方案的有效性和稳定性。