A Novel Constant Damping and High Stiffness Control Method for Flexible Space Manipulators Using Luenberger State Observer
Abstract
:1. Introduction
1.1. Related Works
1.2. Motivations and Contributions
- ●
- A comprehensive state-space dynamic modeling method for flexible joints is proposed, and the perturbation parameters of the flexible joint model are comprehensively analyzed.
- ●
- A Luenberger state observer [27] based on the joint dynamics model is constructed, which enables the accurate estimation of the internal flexible deformation of a joint that cannot be directly measured.
- ●
- The dynamic identification of joint transmission stiffness and external inertia is realized according to the estimated value of joint flexible deformation and joint physical motion characteristics.
- ●
- A control algorithm for flexible joints with constant damping and high stiffness is proposed, based on a dual-adjustment mechanism of speed damping and feed-forward gain. The algorithm is proposed and its effectiveness is verified by simulation experiments and physical experiments.
2. Dynamic Modeling of Flexible Joints
Full-Elements Joint Dynamics Model
3. CDHS Controller with Luenberger Observer
3.1. Structure of CDHS
3.2. The Luenberger Observer
3.3. CDHS Control Layer
3.3.1. Realtime Stiffness and Load Inertia Identification
3.3.2. CDHS Controller
4. Experiments and Analysis
4.1. The Simulation Experiment
4.2. Physical Experiment
5. Conclusions and Future Work
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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[kg] | [kg·m2] | [kg·m2] | [N·s/m] | [N·s/m] | [N·s/m] | [N·s/rad] |
---|---|---|---|---|---|---|
3.5 | 0.23 | 0.0717 | 0.0036 | 0.002 | 0.0003 | 1000 |
[N·s/m] | [N·s/m] | P [pairs] | [Nm/rad] | [Nm/A] | [H] | R [Ω] |
0.001 | 0.002 | 6 | 16,000 | 0.78 | 0.002 | 15.2 |
Controller Method | Maximum Error/° | Average Error/° | Error Reduction Rate | Maximum Deformation /° | Average Deformation /° | Deformation Reduction Rate | Flexible Vibration |
---|---|---|---|---|---|---|---|
Three-loop | ±1.5 | 0.606 | 1 | ±0.05 | 0.019 | 1 | Exist |
CDHS | ±0.5 | 0.163 | 73.1% | ±0.004 | 0.0004 | 97.9% | None |
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Yang, T.; Xu, F.; Zeng, S.; Zhao, S.; Liu, Y.; Wang, Y. A Novel Constant Damping and High Stiffness Control Method for Flexible Space Manipulators Using Luenberger State Observer. Appl. Sci. 2023, 13, 7954. https://doi.org/10.3390/app13137954
Yang T, Xu F, Zeng S, Zhao S, Liu Y, Wang Y. A Novel Constant Damping and High Stiffness Control Method for Flexible Space Manipulators Using Luenberger State Observer. Applied Sciences. 2023; 13(13):7954. https://doi.org/10.3390/app13137954
Chicago/Turabian StyleYang, Tao, Fang Xu, Si Zeng, Shoujun Zhao, Yuwang Liu, and Yanbo Wang. 2023. "A Novel Constant Damping and High Stiffness Control Method for Flexible Space Manipulators Using Luenberger State Observer" Applied Sciences 13, no. 13: 7954. https://doi.org/10.3390/app13137954