The Traject Control Of Flexible Joint Space Manipulator With The Influence Of Gravity

The continuous development of space technology promote the use and development of space agencies.There are more and more research on the movement of space agencies.One of the problems that can not be ignored in the study is whether the ground design institutions and the corresponding control devices can operate normally in the space.Now,some research is to simulate the space environment on the ground and to control the motion behavior of the space mechanism.The environmental factors such as temperature and humidity in the space are easily simulated.But the space microgravity environment is not easy to simulate.There are some existing simulation methods that can be used to simulate microgravity.But it can not realize long time simulation for research.The change of gravity will lead to the deformation of the mechanism and other problems and affect the safety and control accuracy.So it is extremely important to study the influence of gravity change on the motion behavior of space mechanism.So it is very important to study the influence of gravity change.The existence of flexibility in the joint of the mechanism is also a problem that can not be ignored.Because the flexibility of the joint can bring some bad effects.Not only will the high harmonic vibration affect the stability of the system,but also the jitter problem of the joint flexibility will affect the control precision.In this paper,the space manipulator is taken as an example.The main contents are as follows:Firstly,the system is described by the kinematic and dynamic models of the flexible joint manipulator.And design the fuzzy PID controller based on singularly perturbed,and use it to control the track tracking for the two stages of ground adjustment and space fixed base service.and carry out simulation research.According to the results,analyze the motion behavior of the manipulator.compare the results with the control results of PD control based on singularly perturbed.And verify the effect of fuzzy PID control.And use Lyapunov to verify the stability of the control system.And carry out simulation research.And carry out simulation research.Then,design an adaptive PD controller based on singularly perturbed for the flexible joint manipulator under two conditions of ground debugging and space free floating.And use Lyapunov to verify the stability of the control system.Compare the results with the control results of PD control based on singularly perturbed.Verify the effectiveness of the controller.Finally,design a singularly perturbed auto disturbance rejection controller for the flexible joint manipulator under two conditions of ground debugging and free floating space.And use Lyapunov to verify the stability of the control system.The auto disturbance rejection controller can improve the control precision and suppress the jitter problem.