【摘要】 针对安装在柔性基座上的空间机械臂运动过程中的振动问题,提出了一种改进的主动阻尼控制方案;利用参数辨识,给出了惯性矩阵估计值的显式表达式,并且在基座振动抑制控制律中加入了基座位移补偿项。对平面二连杆柔性基座机械臂进行仿真实验。结果表明:原始的主动阻尼控制虽然能够保证在机械臂运动过程中基座的振动抑振,但机械臂轨迹跟踪误差收敛较慢,改进后的控制律能够更快地缩小轨迹跟踪误差,整体的基座抑振效果更好。更多还原

【Abstract】 An improved active damping control scheme is proposed to solve the problem that the space manipulator mounted on a flexible base may lose its motion accuracy due to the base vibration. The explicit formulation of the estimated inertia matrix is given by parameter identification,and a base displacement compensation term is added to the classical vibration suppression control law. A two-link manipulator mounted on a flexible base is then considered and simulated. The results show that compared with the classical control law,the trajectory tracking error of the manipulator with the improved control law converges faster,and the overall base vibration suppression effect is better.更多还原