挠性空间机械臂伪速率增量反馈控制

Analysis of Pseudo-Rate Incremental Feedback Control for Flexible Space Manipulator

摘要:

针对空间机械臂平台中挠性机械臂与平台的耦合情况,采用伪速率反馈控制方法对机械臂平台的姿态控制系统进行设计和分析,使机械臂平台的姿态控制系统满足稳定性、控制精度等性能,并采用描述函数法对所设计线性控制系统的方法中,描述函数法是较为有效的方.η率脉冲调制喷气控制方案。本文在原有的伪速率脉.η的姿态控制系统进行稳定性分析。

Abstract:

For the coupling of flexible manipulator and platform in the space manipulator platform, a pseudo-rate feedbackcontrol method was used to design and analyze the attitude control system of manipulator platform, as well satisfying itsperformance such as stability, control accuracy. And the describing function method was used to analyze the stability of theattitude control system.