Research On Motion Control And Chaos Suppression Of Free Floating Space Flexible Manipulator Systems

The outer space is rich with space resources, energy and mine. The charm of the universe, forhumans, is infinite. In recent years, as the space technology developed continuously, scientists haveachieved remarkable progresses. As space manipulator system work in microgravity, strong radiationand cryogenic environment, it has to suffer more complex interference factors compared with theground robots. And the flexible manipulator system itself characterized multi-degree of freedom, lightquality, long arm and fast speed, it may accompanied by arm deformation and vibration in the processof movement, then deteriorate the accuracy of operation, even lead to system instability and unable tocomplete the task. This article based on the free floating space flexible manipulator system modelingand conducted a series of control simulation study.First of all, assumed modes method is used to describe the elastic deformation of flexiblemanipulator, and combined with the Lagrange equation and momentum conservation equations ofsystem we obtained the dynamic equations of a free floating space flexible manipulator system.Combined torque calculation method, target trajectory tracking control simulation and analysis havebeen done, and the correctness of the dynamic model has been verified.Secondly, considering the influence of the elastic vibration movement of the system flexiblemanipulator to the control target, singular perturbation decomposition has been used to decompose thesystem dynamics model into slow subsystem mainly about terminal trajectory tracking and fastsubsystem mainly describe the vibration of the flexible rod. For slow subsystem control, the SVM(support vector machine) uncertain nonlinearity compensation adaptive sliding mode control methodhas been proposed. Optimum control method has been used to control the fast subsystem. Research onsystem simulation analysis has been done.Finally, dynamic equations of a free floating space redundancy flexible manipulator system hasbeen set up, the acceleration inverse solution based on minimum joint torque optimization has beenresolved, and the state equation has been achieved. Simulation results show that under certain initialconditions the redundancy space flexible manipulator dynamics system will generate complex chaoticmotion. To impel the chaotic motion of the system into inerratic periodic motion and inhibit thechaotic vibration in the dynamics of system, a delayed feedback null space PD controller has beendesigned.