Dynamics,Motion And Vibration Control Of Space Robot Under The Full Elastic Effect Of Base,Arm And Joint

In order to ensure the orderly and efficient operation of space equipment,it is very important to use the space robot system.At the same time,in the actual space robot system,not only the joint and the arm are flexible,but also the base is elastic.The dynamics,motion and vibration control of space robot system under the full elastic effect of base,arm and joint are studied in this paper.In order to accurately control the position tracking of the space robot system,effectively restrain the vibration of the system and realize the integrated control of motion and vibration.Firstly,the dynamic models of the space robot system with elastic joint and flexible arms,the space robot system with fully flexible arms and the space robot system with elastic base and flexible arms are successively seted up by using the conservation of the momentum,second kind of Lagrange equation and the reasonable deformation description of the elastic components.Because of preciousness of the space fuel and in order to ensure the other device working properly,space robots are usually operated in base's attitude-controlled mode andposition-uncontrolled.Secondly,in the case of parameter perturbation or external disturbance,the singular perturbation method is applied to the space robot system with elastic joint and flexible arm.The singular perturbation factor is introduced to decompose the system dynamics equation.Under the assumption of three time scales,studied the adaptive fuzzy control and the fuzzy neural network H? control of the system.Then,the singular perturbation reduced order method and the hybrid trajectory method for the space robot system with fully flexible arms are studied.In the case of parameter perturbation or external disturbance,using singular perturbation method,under the assumption of two time scales,studied the L2 gain robust backstepping control and adaptive sliding mode control of the system.By using the concept of virtual force,the fuzzy robust H?control is studied for the system.Finally,control with vibration not actively suppression,the hybrid trajectory method and singular perturbation reduced order method for the space robot system with elastic baseand fully flexible armsare studied.When used control with vibration not actively suppression,we can confirm that the system have good rigid tracking performances,but vibrations are not well stabilized.By using the concept of virtual force,the hybrid trajectory is generated.Based on the hybrid trajectory adaptive time-varying sliding mode control algorithm is proposed,it can realize the position tracking and suppress the vibration caused by the arm and the base.By using the singular perturbation reduced order method,studied the neural network control based on the Luenberger observer and robust backstepping control base on L2 gain of the system under the assumption of two time scales.The effectiveness and feasibility of the above control methods are verified by the numerical simulation of Matlab.