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中文摘要：
针对柔性空间机械臂的刚体运动控制和柔性体振动抑制问题,给出了一种反馈和前馈复合控制方法.对于一个柔性双连杆机械臂,首先设计反馈线性化控制器,消除非线性影响,实现大范围的刚体运动控制.其次基于闭环回路响应的振动特性,设计输入成型前馈控制器,预成型控制命令,抑制对结构振动影响显著的某些模态响应.最后仿真结果证实了给出的反馈线性化和输入成型复合控制方法,可以实现精确的位置控制,同时机械臂的残余振动得到了有效的抑制.
英文摘要：
For the rigid-body motion control and vibration suppressing of flexible space manipulators, a control method combining feedback and feed-forward schemes is presented. Firstly, for a flexible two-link manipulator, a feedback linearization controller is designed to cancel the nonlinear effects and realize the control of large-scale rigid-body motion. Secondly, based on the vibration properties of closed-loop responses, an input-shaping feed-forward controller is designed to preshape the commands. As a result, the modal responses that have significant contributions to structural vibrations can be suppressed. Finally, simulation results demonstrate that the feedback linearization approach and the input-shaping-based method can achieve precise position control, and suppress the residual vibrations of the manipulator effectively.
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