本文選題：柔性關(guān)節(jié)　切入點(diǎn)：動(dòng)力學(xué)模型　出處：《北京交通大學(xué)》2015年碩士論文

【摘要】：目前,世界上大多數(shù)國(guó)家都十分重視對(duì)太空資源的利用和開發(fā),空間機(jī)械臂的研究已經(jīng)成為空間技術(shù)研究領(lǐng)域內(nèi)的一個(gè)重要研究方向,利用空間機(jī)械臂完成一些太空作業(yè)任務(wù)具有重要的意義。由于,空間機(jī)械臂具有控制精度高、設(shè)計(jì)壽命長(zhǎng)、可靠性高等特點(diǎn),因此,對(duì)其設(shè)計(jì)和控制提出了很高的要求。本文重點(diǎn)針對(duì)空間機(jī)械臂系統(tǒng)的關(guān)鍵組成部分——柔性關(guān)節(jié)進(jìn)行研究分析,對(duì)柔性關(guān)節(jié)的動(dòng)力學(xué)模型、高精度位置控制和振動(dòng)抑制控制等問題作了相關(guān)研究。 首先,基于Lagrange方程得到空間機(jī)械臂柔性關(guān)節(jié)的簡(jiǎn)化動(dòng)力學(xué)模型。應(yīng)用Matlab/SimMechanics仿真軟件進(jìn)行動(dòng)力學(xué)仿真分析,驗(yàn)證了動(dòng)力學(xué)模型的有效性和可實(shí)現(xiàn)性,為后面的控制策略的研究提供了重要的理論依據(jù)。針對(duì)柔性關(guān)節(jié)的線性扭轉(zhuǎn)彈簧模型和彈簧阻尼器模型,采用常規(guī)的PD控制器對(duì)其進(jìn)行仿真實(shí)驗(yàn),對(duì)比分析了不同輸入信號(hào)、控制器參數(shù)以及非線性阻尼對(duì)系統(tǒng)的影響,仿真結(jié)果表明,要實(shí)現(xiàn)柔性關(guān)節(jié)的高精度控制,需要進(jìn)一步對(duì)其控制策略進(jìn)行研究。 其次,針對(duì)空間機(jī)械臂柔性關(guān)節(jié)的高精度位置控制進(jìn)行研究。考慮了非線性因素對(duì)系統(tǒng)的影響,通過分析半閉環(huán)PD位置控制和全閉環(huán)PD位置控制的優(yōu)缺點(diǎn),設(shè)計(jì)了一種雙位置反饋PD控制器來提高關(guān)節(jié)輸出端的位置軌跡跟蹤精度,為了實(shí)現(xiàn)更高精度的位置軌跡跟蹤控制,針對(duì)PD控制器的缺陷,采用自抗擾控制器,設(shè)計(jì)雙位置反饋?zhàn)钥箶_控制策略,通過對(duì)柔性關(guān)節(jié)系統(tǒng)進(jìn)行仿真實(shí)驗(yàn)表明,所設(shè)計(jì)的控制策略不僅能夠提高系統(tǒng)的軌跡跟蹤精度,還能克服摩擦等非線性因素對(duì)系統(tǒng)性能的影響。 再次,針對(duì)空間機(jī)械臂柔性關(guān)節(jié)的振動(dòng)抑制進(jìn)行研究。通過對(duì)柔性關(guān)節(jié)的振動(dòng)狀態(tài)分析,采用了力矩負(fù)反饋控制來實(shí)現(xiàn)關(guān)節(jié)的抑振,考慮到關(guān)節(jié)力矩常常受到干擾信號(hào)的影響,在此基礎(chǔ)上,對(duì)力矩負(fù)反饋控制進(jìn)行改進(jìn),設(shè)計(jì)力矩負(fù)反饋PD控制器,仿真結(jié)果表明,力矩負(fù)反饋PD控制在實(shí)現(xiàn)抑振的同時(shí)可較好的避免干擾信號(hào)的影響。鑒于力矩負(fù)反饋PD控制器不能兼顧抑振效果和軌跡跟蹤精度的問題,設(shè)計(jì)振動(dòng)力矩反饋控制器,仿真實(shí)驗(yàn)表明,該方法在實(shí)現(xiàn)有效抑振的同時(shí)能夠保持軌跡跟蹤的精度。 最后,為了滿足空間機(jī)械臂柔性關(guān)節(jié)設(shè)計(jì)指標(biāo)的要求,既能保證高精度的位置控制的同時(shí)實(shí)現(xiàn)有效抑振,對(duì)空間機(jī)械臂柔性關(guān)節(jié)進(jìn)行位置／力混合控制,設(shè)計(jì)四種不同的混合控制策略,通過仿真結(jié)果表明,四種混合控制策略均能滿足設(shè)計(jì)指標(biāo)的要求,且雙位置反饋?zhàn)钥箶_控制+振動(dòng)力矩反饋控制的混合控制效果最為理想。
[Abstract]:At present, most countries in the world attach great importance to the utilization and development of space resources, and the research of space manipulator has become an important research direction in the field of space technology research.It is of great significance to use space manipulator to accomplish some space tasks.Because the space manipulator has the characteristics of high control precision, long design life, high reliability and so on, the design and control of space manipulator are required to be very high.In this paper, the key component of space manipulator system, flexible joint, is studied, and the dynamic model of flexible joint, high precision position control and vibration suppression control are studied.Firstly, the simplified dynamic model of flexible joints of space manipulator is obtained based on Lagrange equation.The effectiveness and realizability of the dynamic model are verified by using the Matlab/SimMechanics simulation software, which provides an important theoretical basis for the study of the control strategy in the future.The linear torsion spring model and spring damper model of flexible joints are simulated by conventional PD controller. The effects of different input signals, controller parameters and nonlinear damping on the system are compared and analyzed.The simulation results show that in order to achieve high precision control of flexible joints, it is necessary to further study its control strategy.Secondly, the high precision position control of flexible joints of space manipulator is studied.Considering the influence of nonlinear factors on the system, by analyzing the advantages and disadvantages of semi-closed-loop PD position control and full-closed-loop PD position control, a dual-position feedback PD controller is designed to improve the tracking accuracy of joint output.In order to achieve a higher precision position tracking control, aiming at the defects of PD controller, a dual position feedback active disturbance rejection control strategy is designed. The simulation results of the flexible joint system show that,The designed control strategy can not only improve the tracking accuracy of the system, but also overcome the influence of nonlinear factors such as friction on the performance of the system.Thirdly, the vibration suppression of flexible joints of space manipulator is studied.Based on the analysis of the vibration state of flexible joints, the torque negative feedback control is used to control the joint vibration. Considering that the joint torque is often affected by the disturbance signal, the torque negative feedback control is improved.A torque negative feedback PD controller is designed. The simulation results show that the torque negative feedback PD control can effectively avoid the influence of disturbance signal while suppressing vibration.In view of the fact that the torque feedback PD controller can not take into account the vibration suppression effect and trajectory tracking accuracy, the vibration torque feedback controller is designed. The simulation results show that the proposed method can effectively suppress vibration and maintain the track tracking accuracy at the same time.Finally, in order to meet the design requirements of space manipulator flexible joint, it can not only guarantee high precision position control, but also achieve effective vibration suppression, and carry out position / force hybrid control for space manipulator flexible joint.Four different hybrid control strategies are designed. The simulation results show that the four hybrid control strategies can meet the requirements of the design index, and the hybrid control effect of the dual position feedback ADRC vibration torque feedback control is the most ideal.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：V423

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