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学者姓名：郭益深
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Abstract ：
研究不确定弹性基和弹性关节空间机器人的抗扰运动控制及基座和关节弹性振动同步抑制问题.在对基座和关节弹性进行等效线性弹簧假设的基础上,建立了弹性基和弹性关节空间机器人的动力学方程,并推导了基于等效刚度思想的奇异摄动慢、快变子系统.对传统参数自适应控制律进行σ修正并与鲁棒抗扰控制相结合,对不确定参数和有界外部扰动影响下的慢变子系统提出了基座姿态和臂杆关节刚性运动轨迹跟踪的改进自适应鲁棒抗扰控制方案.使用高增益线性状态观测器对快变高阶量进行实时观测,针对快变子系统设计了基座和关节弹性振动同步抑制的改进最优控制方案.仿真示例分析,表明了所提混合控制方案在空间机器人抗扰运动控制及振动抑制上的有效性.
Keyword ：
弹性关节 弹性关节 弹性基 弹性基 抗扰控制 抗扰控制 振动抑制 振动抑制 空间机器人 空间机器人
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| GB/T 7714 | 陈志勇 , 张婷婷 , 郭益深 . 弹性基和弹性关节空间机器人的自适应鲁棒抗扰控制及振动抑制 [J]. | 自动化学报 , 2018 , 44 (07) : 1271-1281 . |
| MLA | 陈志勇 等. "弹性基和弹性关节空间机器人的自适应鲁棒抗扰控制及振动抑制" . | 自动化学报 44 . 07 (2018) : 1271-1281 . |
| APA | 陈志勇 , 张婷婷 , 郭益深 . 弹性基和弹性关节空间机器人的自适应鲁棒抗扰控制及振动抑制 . | 自动化学报 , 2018 , 44 (07) , 1271-1281 . |
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Abstract ：
Anti-interference motion control and elastic vibration synchronous suppression of base and joints for an elastic-base elastic-joint space robot with uncertainties are studied. On the basis of equivalent linear spring assumptions about the elastic base and joints, the dynamic equations of the space robot are established, then both singular perturbation slow and fast subsystems are deduced with the equivalent stiffness concept. The traditional parameter adaptive control law is improved by using σ modification, and is then combined with the robust anti-interference control. An improved singular perturbation adaptive robust anti-interference control scheme is proposed for the slow subsystem to track the rigid motion trajectories of the base's attitude and links' joints subject to uncertain parameters and bounded external disturbances. A high-gain linear state observer is employed to measure the fast higher-order states in real time, and an improved optimal control method is designed for the fast subsystem to synchronously suppress the elastic vibrations of the base and joints. Simulation result demonstrates the validity of the presented hybrid control scheme in anti-interference motion control and vibration suppression of the space robot. Copyright © 2018 Acta Automatica Sinica. All rights reserved.
Keyword ：
Elasticity Elasticity Motion control Motion control Robots Robots Uncertainty analysis Uncertainty analysis
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| GB/T 7714 | Chen, Zhi-Yong , Zhang, Ting-Ting , Guo, Yi-Shen . Adaptive Robust Anti-interference Control and Vibration Suppression for an Elastic-base Elastic-joint Space Robot [J]. | Acta Automatica Sinica , 2018 , 44 (7) : 1271-1281 . |
| MLA | Chen, Zhi-Yong 等. "Adaptive Robust Anti-interference Control and Vibration Suppression for an Elastic-base Elastic-joint Space Robot" . | Acta Automatica Sinica 44 . 7 (2018) : 1271-1281 . |
| APA | Chen, Zhi-Yong , Zhang, Ting-Ting , Guo, Yi-Shen . Adaptive Robust Anti-interference Control and Vibration Suppression for an Elastic-base Elastic-joint Space Robot . | Acta Automatica Sinica , 2018 , 44 (7) , 1271-1281 . |
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Abstract ：
本实用新型涉及一种基于金属滤袋的轴套式双向对接装置，包括两个相对设置的焊接端口、分别设在两焊接端口外围的套帽和设在两焊接端口外围起连接作用的连接管套，焊接端口的上段为圆管，中段外壁设置有外螺纹，下段为梯形过渡段，三段空心同轴，圆管外径小于中段外螺纹的直径；套帽上端设有第一内螺纹，下端设有第二内螺纹，第一内螺纹的孔径大于第二内螺纹的孔径，套帽穿过圆管，第二内螺纹与焊接端口的外螺纹配合连接，且套帽与圆管之间留有安装连接管套端口的空隙，连接管套内部呈中空圆柱状，两端的外壁设置有与第一内螺纹配合的外螺纹，圆管外径恰好能使其插入连接套管内部。本实用新型不仅安装方便，而且能保证金属滤袋对接时的同轴度及密封性。
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| GB/T 7714 | 郭益深 , 郑育祥 , 张铭津 et al. 基于金属滤袋的轴套式双向对接装置 : CN201720695571.0[P]. | 2017/6/15 . |
| MLA | 郭益深 et al. "基于金属滤袋的轴套式双向对接装置" : CN201720695571.0. | 2017/6/15 . |
| APA | 郭益深 , 郑育祥 , 张铭津 , 曹棫 , 郑龙轩 , 张荣 . 基于金属滤袋的轴套式双向对接装置 : CN201720695571.0. | 2017/6/15 . |
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The sliding-mode neural network control problem was discussed for a flexible-joint dual-arm space robot under the influences of parametric uncertainty and external disturbance. The elastic deformation of joint was described by the linear torsion spring, in terms of the principle of linear and angular momentum and the Lagrange method, the dynamic model of flexible-joint dual-arm space robot was derived. By using of the singular perturbation approach, two subsystems which can be controlled independently were separated from the system with the joint flexible compensation. To realize the accurately trajectory tracking of end-effectors on the effects of two uncertain factors and suppress the elastic vibration of joints, a hybrid control scheme composed by the sliding-mode neural network control of rigid motion and the feedback control of flexible motion was put forward. Simulation results show that the presented scheme has stronger ability to resist disturbance and parametric uncertainty, and can control the system to perform the desired circular motions and suppress the elastic vibration of joints. ©, 2014, Chinese Association for System Simulation. All right reserved.
Keyword ：
End-effectors; External disturbance; Flexible-joint dual-arm space robot; Sliding-mode neural network control; Vibration suppression End-effectors; External disturbance; Flexible-joint dual-arm space robot; Sliding-mode neural network control; Vibration suppression
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| GB/T 7714 | Chen, Z. , Guo, Y. , Chen, L. . Sliding-mode neural network control of flexible-joint dual-arm space robot [J]. | Journal of System Simulation , 2014 , 26 (12) : 2950-2956 . |
| MLA | Chen, Z. et al. "Sliding-mode neural network control of flexible-joint dual-arm space robot" . | Journal of System Simulation 26 . 12 (2014) : 2950-2956 . |
| APA | Chen, Z. , Guo, Y. , Chen, L. . Sliding-mode neural network control of flexible-joint dual-arm space robot . | Journal of System Simulation , 2014 , 26 (12) , 2950-2956 . |
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Abstract ：
研究参数不确定、外部扰动影响下柔性关节双臂空间机器人的滑模神经网络控制问题.采用线性扭转弹簧等效描述关节弹性,根据系统线、角动量守恒原理及拉格朗日法,推导柔性关节双臂空间机器人的动力学模型.利用奇异摄动法对柔性补偿后的系统进行分解,得到两个可独立控制的子系统.为实现系统末端操作器在两种不确定性因素干扰下的轨迹精确追踪及关节振动抑制,提出一种刚性运动滑模神经网络控制、柔性运动反馈控制相结合的混合控制方案.仿真结果显示,所提方案具有较强的抗扰动及抗参数不确定能力,可使系统完成所期望的圆周运动并抑制关节的弹性振动.
Keyword ：
外部扰动 外部扰动 振动抑制 振动抑制 末端操作器 末端操作器 柔性关节双臂空间机器人 柔性关节双臂空间机器人 滑模神经网络控制 滑模神经网络控制
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| GB/T 7714 | 陈志勇 , 郭益深 , 陈力 . 柔性关节双臂空间机器人的滑模神经网络控制 [J]. | 系统仿真学报 , 2014 , 26 (12) : 2950-2956 . |
| MLA | 陈志勇 et al. "柔性关节双臂空间机器人的滑模神经网络控制" . | 系统仿真学报 26 . 12 (2014) : 2950-2956 . |
| APA | 陈志勇 , 郭益深 , 陈力 . 柔性关节双臂空间机器人的滑模神经网络控制 . | 系统仿真学报 , 2014 , 26 (12) , 2950-2956 . |
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Abstract ：
针对具有外部扰动与参数不确定或未知的情况,讨论漂浮基柔性空间机械臂系统的协调控制与柔性振动抑制问题。基于假设模态法对柔性臂杆进行近似描述,并利用第二类拉格朗日方程与系统动量守恒关系,推导带外部扰动的漂浮基柔性空间机械臂系统的动力学方程。以此为基础,提出漂浮基柔性空间机械臂系统协调运动的非线性鲁棒控制与非线性鲁棒自适应控制方案。此两种控制方案均可克服外部扰动对系统的影响,控制漂浮基柔性空间机械臂系统载体姿态与机械臂各关节铰完成期望的协调运动,同时有效地抑制了臂杆的柔性振动。除此之外,非线性鲁棒自适应控制方案还可以解决系统惯性参数不确定或未知的问题。系统数值仿真结果证实了所提控制方案的有效性和可行...
Keyword ：
协调运动 协调运动 外部扰动 外部扰动 漂浮基柔性空间机械臂 漂浮基柔性空间机械臂 鲁棒自适应控制 鲁棒自适应控制
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| GB/T 7714 | 郭益深 , 孙富春 . 漂浮基柔性空间机械臂协调运动的非线性鲁棒自适应控制 [J]. | 机械工程学报 , 2013 , 49 (23) : 36-43 . |
| MLA | 郭益深 et al. "漂浮基柔性空间机械臂协调运动的非线性鲁棒自适应控制" . | 机械工程学报 49 . 23 (2013) : 36-43 . |
| APA | 郭益深 , 孙富春 . 漂浮基柔性空间机械臂协调运动的非线性鲁棒自适应控制 . | 机械工程学报 , 2013 , 49 (23) , 36-43 . |
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The coordinated control and vibration suppression problems of free-floating flexible space manipulator system with external disturbances and uncertain or unknown parameters are discussed. The flexible links are approximated based on the assumed mode method, and then with the second Lagrange approach and the linear momentum conservation, the dynamic equations of free-floating flexible space manipulator system are derived. Nonlinear robust control and nonlinear robust adaptive control schemes are proposed for coordinated motion of the free-floating flexible space manipulator system. These control schemes can all overcome the effect of external disturbances on the free-floating flexible space manipulator system and control the base attitude and the joints to complete the desired coordinated motion, while suppressing flexible vibration of the links efficiently. In addition, the nonlinear robust adaptive control scheme can also solve the uncertain or unknown problem of system inertial parameters. Numerical simulation is carried out to verify the validity and feasibility of the proposed control schemes. © 2013 Journal of Mechanical Engineering.
Keyword ：
Adaptive control systems Adaptive control systems Flexible manipulators Flexible manipulators Robotic arms Robotic arms Robust control Robust control Spacecraft equipment Spacecraft equipment Uncertainty analysis Uncertainty analysis
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| GB/T 7714 | Guo, Yishen , Sun, Fuchun . Nonlinear robust adaptive control for free-floating flexible space manipulator system [J]. | Journal of Mechanical Engineering , 2013 , 49 (23) : 36-43 . |
| MLA | Guo, Yishen et al. "Nonlinear robust adaptive control for free-floating flexible space manipulator system" . | Journal of Mechanical Engineering 49 . 23 (2013) : 36-43 . |
| APA | Guo, Yishen , Sun, Fuchun . Nonlinear robust adaptive control for free-floating flexible space manipulator system . | Journal of Mechanical Engineering , 2013 , 49 (23) , 36-43 . |
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讨论了载体位置、姿态均不受控制情况下,具有外部扰动与参数不确定的自由漂浮空间机械臂系统关节空间轨迹跟踪的控制问题。结合系统动量、动量矩守恒关系及拉格朗日方法,建立了自由漂浮空间机械臂的系统动力学方程。针对外部扰动与参数不确定的情况,提出一种自适应反演滑模控制方案。此控制方案无需要求系统动力学方程关于惯性参数呈线性函数关系;同时,它可保证系统具有全局意义下的渐近稳定性。数值仿真结果证实了该控制方案可有效地消除外部扰动与参数不确定对系统的影响,控制空间机械臂系统各关节按关节空间内的期望轨迹进行运动。
Keyword ：
关节运动 关节运动 动力学方程 动力学方程 参数不确定 参数不确定 外部扰动 外部扰动 自由漂浮空间机械臂 自由漂浮空间机械臂 自适应反演滑模控制 自适应反演滑模控制
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| GB/T 7714 | 郭益深 , 陈力 . 空间机械臂关节轨迹跟踪的自适应反演滑模控制 [J]. | 力学季刊 , 2009 , 30 (03) : 445-450 . |
| MLA | 郭益深 et al. "空间机械臂关节轨迹跟踪的自适应反演滑模控制" . | 力学季刊 30 . 03 (2009) : 445-450 . |
| APA | 郭益深 , 陈力 . 空间机械臂关节轨迹跟踪的自适应反演滑模控制 . | 力学季刊 , 2009 , 30 (03) , 445-450 . |
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The control problem of coordinated motion of a free-floating flexible space manipulator system is discussed. Based on the assumed mode method, the system linear momentum conversation and the Lagrange equation of second kind, the second-order nonlinear dynamic equation of the flexible space manipulator system is established. Accordingly, using the Backstepping control approach, the Backstepping control scheme is designed for coordinated motion between the base's attitude and the joints of the free-floating flexible space manipulator system. With the proposed control scheme, the system satisfies the condition of Lyapunov stability theory, and it has global asymptotic stability. A planar free-floating flexible space manipulator system is simulated to verify the effectiveness of the proposed control scheme.
Keyword ：
Asymptotic stability Asymptotic stability Backstepping Backstepping Equations of motion Equations of motion Manipulators Manipulators Nonlinear equations Nonlinear equations Spacecraft equipment Spacecraft equipment
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| GB/T 7714 | Guo, Yi-Shen , Chen, Li . Backstepping control of coordinated motion of free-floating flexible space manipulator system [J]. | Engineering Mechanics , 2009 , 26 (10) : 165-170 . |
| MLA | Guo, Yi-Shen et al. "Backstepping control of coordinated motion of free-floating flexible space manipulator system" . | Engineering Mechanics 26 . 10 (2009) : 165-170 . |
| APA | Guo, Yi-Shen , Chen, Li . Backstepping control of coordinated motion of free-floating flexible space manipulator system . | Engineering Mechanics , 2009 , 26 (10) , 165-170 . |
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讨论了载体位置无控、姿态受控情况下,漂浮基柔性空间机械臂姿态、关节协调运动的控制问题.基于假想模态法、系统动量守恒关系及拉格朗日第二类方程,建立了漂浮基柔性空间机械臂的二阶非线性系统动力学方程.以此为基础,采用Backstepping控制策略,设计了漂浮基柔性空间机械臂载体姿态与机械臂各关节协调运动的Backstepping控制方案.提出的控制方案使系统满足了李雅普诺夫稳定性理论条件,并保证了系统具有全局意义下的渐进稳定性.一个平面漂浮基柔性空间机械臂的系统数值仿真,证实了此控制方案的有效性.
Keyword ：
Backstepping控制 Backstepping控制 假想模态法 假想模态法 柔性空间机械臂 柔性空间机械臂 渐进稳定 渐进稳定 漂浮基 漂浮基
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| GB/T 7714 | 郭益深 , 陈力 . 漂浮基柔性空间机械臂基于Backstepping控制策略设计的姿态、关节运动控制 [J]. | 工程力学 , 2009 , 26 (10) : 165-170 . |
| MLA | 郭益深 et al. "漂浮基柔性空间机械臂基于Backstepping控制策略设计的姿态、关节运动控制" . | 工程力学 26 . 10 (2009) : 165-170 . |
| APA | 郭益深 , 陈力 . 漂浮基柔性空间机械臂基于Backstepping控制策略设计的姿态、关节运动控制 . | 工程力学 , 2009 , 26 (10) , 165-170 . |
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