Intelligent Fault Tolerant Control Of Space Robot With External Disturbances And Motor Fault

This paper mainly studies the control problem and the kinematics of three kinds of space robot system under different conditions.According to different application background,using the kinematics and dynamics theories to study the space robot system in detail.This paper is mainly based on the different space robot system,in the event of parametric uncertainty,external disturbance and the drive motor fault conditions,designs different control equations to solve the influence on control effect.According to the division of the chapters,this paper mainly contains the following several contents:(1)Reviewing the current development status of domestic and international research in the field of space robot in detail.From the direction of space robot,control method and application scope,expounds the research situation of space robot.Among them,doing a full introduction of the research on the control method,the advantages and disadvantages of different control methods are analyzed.(2)Based on the Lagrange second method and momentum theorem and the characterization of the deformation of the flexible body,including the rigid,flexible and flexible joint space robot system kinematics and dynamics equation.Analyzing its kinematics characteristics according to the geometric relations of position.Providing an important theoretical basis of space robot motion control problem for research.(3)Studying on the influence of parameter uncertainty problem for the control effect of space robot system.At the same time,a control scheme based on RBF neural network is designed for the rigid arm space robot in joint space and inertial space,for the systems with uncertain parameters are estimated,approximation.In order to compensate the uncertain parameters influence on the control accuracy of the system generated.(4)Discussed the existing external disturbance and system parameters of space robot dynamic modeling,control algorithm and the flexible vibration suppression problem.Through the application of singular perturbation theory,the dynamic control problem is decomposed.And put forward a kind of fuzzy recurrent neural network control method for robust control and an optimal linear quadratic regulator control method to solve the trajectory tracking and vibration problems.(5)For a space robot system with uncertainty parameters and fault of motor,studied the problem of the dynamics model and fault tolerant control algorithm and active vibration suppression.According to different characteristics of flexible and flexible joint space robot,designed a kind of fault tolerant based on the backstepping thought and time delay estimation method.By using the singular perturbation method and the through of flexible compensation theory applied the method to two kinds of space robot.(6)Based on these working conditions,numerical simulation and experimental verification is designed,testified the control methods designed in this paper can effectively solve the problem of different.