摘要
针对空间机器人的动力学特性和星载控制系统的结构特点,分别基于干扰上确界和比例切换,设计了2种分布式滑模变结构控制方法,以实现在存在不确定干扰和关节摩擦力矩情况下基座姿态和关节运动的综合控制。首先给出了空间机器人的动力学模型和关节低速摩擦力矩模型,并以两自由度空间机器人为例,介绍了2种分布式滑模变结构控制方法的推导过程。通过仿真实验,对2种控制方法进行了对比,结果表明分布式变结构控制方法在简化算法的同时,能够保证系统控制性能,并对干扰和参数变化具有较强的鲁棒性。
Two different distributed variable structure control methods for free-flying space robot are introduced. One is based on the upper bound of disturbance, and the other is based on proportional switching. The dynamic model and the low speed friction model of the space robot are described in detail. Taking a two DOF free-flying space robot as the object, two distributed variable structure control methods are derived. The simulation results of the two methods show that a proper variable structure control law can not only have better robustness and adaptability, but also reduce the complexity of computation.
出处
《控制工程》
CSCD
北大核心
2009年第2期234-238,共5页
Control Engineering of China
基金
国家863高技术研究计划基金资助项目(2005AA745060)
关键词
空间机器人
变结构控制
准滑动模态
低速摩擦特性
space robot
variable structure control
quasi-sliding mode
low speed friction.
