基于多时间尺度模型的振动基柔顺机械臂的控制研究

随着坦克火炮武器系统性能要求的不断提高，将柔顺关节引入弹药传输机械臂是未来坦克自动装弹机发展的必然趋势。车体振动与关节柔性振动耦合作用下弹药传输机械臂的轨迹跟踪控制，是未来坦克火炮实现任意角度装填必须要解决的难题。本项目拟以新型柔顺弹药传输机械臂为对象展开以下研究：(1) 采用经验模式分解法进行车体与柔性关节耦合振动的时频分析，实现振动状态的多尺度分解；(2) 结合关节非参数化模型与机械臂欧拉-拉格朗日模型，引入双摄动因子建立系统的三时间尺度模型；(3) 采用几何流形法进行系统奇异摄动模型的降阶与解耦，基于复合隐式Lyapunov函数、计算力矩法与柔性关节混合控制策略实现弹药传输机械臂的轨迹跟踪控制。本项目将为坦克自动装弹机弹药传输机械臂的发展奠定理论基础，对推动多时间尺度非线性动力学与奇异摄动控制在国民经济尤其是国防领域的应用具有重要意义。

With the advanced development of the tank artillery weapons, it has become an inevitable trend for the ammunition transfer manipulator of tank autoloaders to equip with a compliant joint. In order to realize the arbitrary angle loading for the tank artillery, this project is focused on the tracking control of a new ammunition transfer manipulator with oscillatory base and flexible joint. The present study comprises three sections as follows. (1) Firstly, time-frequency analysis for coupling vibration of oscillatory and flexible joint is conducted to obtain multi-scale decomposition of the vibration states, using the empirical mode decomposition (EMD) method. (2) Secondly, by introducing two different small parameters, a three-time scales model of the system is built based on the non-parametric model of the flexible joint and the Euler-Lagrange model of the manipulator. (3) Finally, the geometric manifold method is used to realize the reduction and decoupling of the singular perturbation model of the system, and then the tracking controller of the ammunition transfer manipulator is built by combing implicit composite Lyapunov function, computed torque method and hybrid control law of the flexible joint. This research will lay a theoretical foundation for the development of ammunition transfer manipulator, and has important significance for promoting the application of the multi-time scale nonlinear dynamic and singular perturbation control in our national economy especially in military fields.