【摘要】：目前的航天任務(wù)成本昂貴、風(fēng)險(xiǎn)較高,航天器發(fā)射后不能正確入軌或出現(xiàn)故障將導(dǎo)致巨大的損失。在軌服務(wù)技術(shù),既能保證航天器的正常運(yùn)行,又能減少航天器故障或失效造成的損失,具有巨大的研究?jī)r(jià)值和應(yīng)用前景。在軌服務(wù)技術(shù)涉及柔性機(jī)械臂與非合作目標(biāo)的接觸問(wèn)題。接觸目標(biāo)瞬間,柔性機(jī)械臂會(huì)受到非合作目標(biāo)的沖擊碰撞力,瞬時(shí)碰撞造成空間柔性機(jī)械臂基座擾動(dòng)、產(chǎn)生振動(dòng)、任務(wù)失敗。針對(duì)這一問(wèn)題,本論文研究了面向在軌服務(wù)的空間柔性機(jī)械臂振動(dòng)控制技術(shù),將磁流變阻尼器引入空間柔性機(jī)械臂關(guān)節(jié)結(jié)構(gòu)中,根據(jù)凱恩方法建立N關(guān)節(jié)6N自由度漂浮基/柔性機(jī)械臂的普適動(dòng)力學(xué)方程,并設(shè)計(jì)了多自由度分布可控阻尼的空間柔性機(jī)械臂抑振方法。本論文的研究?jī)?nèi)容來(lái)源于國(guó)家自然科學(xué)基金資助項(xiàng)目(51305039)、中央高�；究蒲袠I(yè)務(wù)費(fèi)專(zhuān)項(xiàng)資金項(xiàng)目(2014PTB-00-01),具體工作如下： 首先,建立了N關(guān)節(jié)6N自由度具有可控阻尼單元的漂浮基/柔性機(jī)械臂動(dòng)力學(xué)模型。為實(shí)現(xiàn)振動(dòng)控制,在柔性機(jī)械臂關(guān)節(jié)處引入由磁流變阻尼器和緩沖器組成的可控阻尼單元,將漂浮基座視為一段拓展機(jī)械臂桿,并將柔性機(jī)械臂離散為由彈簧和阻尼連接的多剛體段,利用凱恩方法進(jìn)行運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)分析,得到空間柔性機(jī)械臂的動(dòng)力學(xué)方程。分別利用Matlab與Adams軟件進(jìn)行建模,通過(guò)對(duì)比仿真曲線,驗(yàn)證了所建立的柔性機(jī)械臂動(dòng)力學(xué)模型的有效性。 其次,基于磁流變?cè)?研究了磁流變阻尼器的神經(jīng)網(wǎng)絡(luò)正逆模型建模、控制方法。針對(duì)磁流變阻尼器輸出阻尼的非線性及磁滯特性,利用神經(jīng)網(wǎng)絡(luò)對(duì)復(fù)雜模型的辨識(shí)能力,對(duì)網(wǎng)絡(luò)拓?fù)浣Y(jié)構(gòu)、傳輸函數(shù)、性能函數(shù)、訓(xùn)練算法進(jìn)行研究,分別建立了磁流變阻尼器神經(jīng)網(wǎng)絡(luò)正逆模型,通過(guò)逆正模型串聯(lián),實(shí)現(xiàn)了對(duì)磁流變阻尼器的精確控制。進(jìn)一步,基于Matlab和Adams軟件平臺(tái)進(jìn)行聯(lián)合仿真,驗(yàn)證了方案。 最后,基于控制目標(biāo),使用微粒群優(yōu)化算法,設(shè)計(jì)了多自由度、分布可控阻尼空間柔性機(jī)械臂振動(dòng)控制策略。以所有關(guān)節(jié)的振動(dòng)位移最小為準(zhǔn)則,設(shè)計(jì)了目標(biāo)函數(shù)。利用微粒群優(yōu)化算法,設(shè)計(jì)控制流程,通過(guò)迭代計(jì)算得到各關(guān)節(jié)處的期望最優(yōu)阻尼力,并控制磁流變阻尼器輸出該阻尼力,實(shí)現(xiàn)柔性機(jī)械臂的振動(dòng)衰減。同時(shí),設(shè)計(jì)了基于PID控制器的柔性機(jī)械臂振動(dòng)控制策略。最后以三關(guān)節(jié)十二自由度柔性機(jī)械臂為研究對(duì)象,搭建控制系統(tǒng),分別對(duì)微粒群優(yōu)化控制、PID控制、未控情況進(jìn)行仿真,通過(guò)對(duì)比結(jié)果,驗(yàn)證空間柔性機(jī)械臂微粒群優(yōu)化控制方案的有效性。
[Abstract]:The current space mission is expensive and risky, and the inaccuracy or failure of the spacecraft after launch will lead to huge losses. On-orbit service technology can not only ensure the normal operation of the spacecraft, but also reduce the loss caused by the failure or failure of the spacecraft. It has great research value and application prospects. The problem of flexible manipulator's contact with non-cooperative targets is studied in this paper. The flexible manipulator will be subjected to the impact force of non-cooperative targets at the moment of contact with the target. The instantaneous impact will cause the disturbance of space flexible manipulator's base, vibration and mission failure. Based on Kane's method, a universal dynamic equation of a 6N-degree-of-freedom floating base/flexible manipulator with N joints is established. A multi-degree-of-freedom distributed controllable damping method for vibration suppression of a flexible space manipulator is designed. Subsidized projects (51305039), the central university basic scientific research business fee special fund project (2014 PTB-00-01), the specific work as follows:
Firstly, a dynamic model of a flexible manipulator with 6N-degree-of-freedom and controllable damping element is established. In order to achieve vibration control, a controllable damping element composed of magnetorheological damper and buffer is introduced at the joint of the flexible manipulator. The floating base is regarded as an extended manipulator rod, and the flexible manipulator is dispersed as a reason. The kinematics and dynamics of the flexible manipulator with spring and damping are analyzed by Kane method, and the dynamic equations of the flexible manipulator are obtained.
Secondly, based on the principle of magnetorheological (MR), the forward and inverse models of MR dampers are modeled and controlled by neural networks. According to the nonlinear and hysteretic characteristics of MR dampers, the network topology, transfer function, performance function and training algorithm are studied by using neural networks to identify complex models. The forward and inverse model of MR damper neural network is established, and the precise control of MR damper is realized by series connection of the inverse model. Furthermore, the scheme is verified by joint simulation based on MATLAB and Adams software platform.
Finally, based on the control objective, a multi-degree-of-freedom, distributed and controllable damping space flexible manipulator vibration control strategy is designed by using particle swarm optimization algorithm. The objective function is designed according to the minimum vibration displacement of all joints. The control flow is designed by using particle swarm optimization algorithm, and the expected maximum of each joint is obtained through iterative calculation. At the same time, the vibration control strategy of the flexible manipulator based on PID controller is designed. Finally, the control system of the three-joint twelve-degree-of-freedom flexible manipulator is set up. Particle swarm optimization control, PID control, uncontrolled control are respectively established. The simulation results verify the effectiveness of the particle swarm optimization control scheme for space flexible manipulator.
【學(xué)位授予單位】：北京郵電大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TP241;TB535

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本文編號(hào)：2249161