Author(s)

Sun Lingzhen, Ye Shuo, Chen Yunsheng

Corresponding Author

Sun Lingzhen

ABSTRACT

The flexible space manipulator is disturbed by the dynamic load in the position servo process, which easily leads to the unknown load distortion at the end of the manipulator, and the robustness of the flexible space manipulator control is not good. In order to improve the robustness of dynamic load rejection control for flexible space manipulator, a dynamic load rejection control method for flexible space manipulator based on load mass parameter identification is proposed. The joint flexible identification system is used to collect the position servo correlation parameters of the flexible space manipulator, and the position servo constraint parameter model of the flexible space manipulator is constructed. The terminal load mass parameter identification method is used to adjust the position error of the flexible space manipulator and the local linearization parameter fusion method is used to correct the control error of the space manipulator to improve the steady-state control performance of the flexible space manipulator. The steady state error is reduced and the on-line identification ability of unknown load parameters of space manipulator is improved. The simulation results show that the proposed method has the advantages of small error and good stability in dynamic load rejection control of flexible space manipulator, and has good performance of inertial parameter identification in orbit.

KEYWORDS

Flexible Space Manipulator, Control Method