基于高斯基模糊神经网络的漂浮基柔性空间机械臂自学习控制.pdfVIP

第 26 卷第 6 期 Vol.26 No.6 工 程 力 学 2009 年 6 月 June 2009 ENGINEERING MECHANICS 172 文章编号：1000-4750(2009)06-0172-06 基于高斯基模糊神经网络的 漂浮基柔性空间机械臂自学习控制 *洪昭斌，陈 力 (福州大学机械工程及自动化学院，福州 350002) 摘 要：讨论了载体位置不受控、姿态受控情况下，自由漂浮柔性空间机械臂的高斯基模糊神经网络自学习控制 问题。利用拉格朗日方程和模态综合法可建立柔性空间机械臂的动力学模型，但由于此类空间机器人系统严格遵 守动量守恒，其动力学方程表现出强烈的非线性性质。结合神经网络和模糊控制，即利用神经网络来实现模糊推 理可使模糊控制具有自学习能力，在此基础上，设计了柔性空间机械臂关节空间的高斯基模糊神经网络自学习控 制方案。由于将动量守恒定理耦合到系统动力学方程的推导过程中，所提出的控制方案具有不需要测量、反馈载 体位置、移动速度和移动加速度的显著优点。系统的数值仿真，证实了方法的有效性。 关键词：柔性空间机械臂；动力学建模；关节空间；模糊神经网络；自学习控制 中图分类号：TP241 文献标识码：A SELF-LEARNING CONTROL OF SPACE FLEXIBLE MANIPULATOR BASED ON GAUSS FUNCTION FUZZY NEURAL NETWORK * HONG Zhao-bin , CHEN Li (College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350002, China) Abstract: The self-learning control of a free-floating space flexible manipulator based on fuzzy neural network is studied. The dynamic equations of the system can be developed by using the Lagrangian assumed modal methods. Because the momentum conservation is strictly developed, the dynamics of the space flexible manipulator is nonlinear strongly. When the fuzzy control and neural network are combined, namely the fuzzy inference is realized by neural network, the fuzzy control can self-learn. Based on the results, the self-learning controller of the space flexible manipulator in a joint space is designed. The controller does not require the measuring position, the velocity as well as the acceleration of the base. And the numerical simulation is carried out, which confirms the controller proposed is feasible