摘要
针对漂浮基空间机器人双臂夹持捕获航天器过程的冲击效应及其后镇定运动的力/位置控制问题,本文提出了一种基于无源性理论的模糊控制方案。依据多刚体系统动力学理论,获得了捕获前双臂空间机器人及目标航天器的动力学模型;应用系统动量守恒关系,捕获后闭链系统运动几何关系及力的传递规律,分析了捕获接触、碰撞过程对闭链系统产生的冲击效应,并进而建立了捕获操作完成后两者形成的闭链混合体系统动力学方程。以此为基础,针对非合作航天器带来的系统建模误差及扰动,基于无源性理论并结合速度观测器,设计了捕获操作后闭链混合体系统夹持操作的镇定运动力/位置模糊滑模控制方案。结果表明:提出的方案无需实际测量相关速度信号,并具有基于无源性理论所设计控制方案本身秉承的良好动态特性及较强的鲁棒性;可以有效抵御捕获操作引起的较强冲击效应对控制系统的干扰,快速实现闭链混合体系统的运动镇定。系统数值模拟仿真结果验证了所提控制方案的正确性。
A fuzzy control scheme based on the passivity theory is proposed to solve the impact effect of floating-based space robots in the process of capturing spacecraft by dual-arm clamping and the force/position control of its post-stabilization movement.Dynamic models of the double-arm space robot and the target spacecraft before capture are obtained based on the multi-rigid system dynamics theory.Afterward,based on the law of the conservation of momentum and the motion geometry relation and force transfer law of the closed-chain system after the capture,the impact effect of the capture contact and collision process on the closed-chain system after the collision is analyzed.Then,the dynamic equation of the closed-chain mixture system formed by them after the capture operation is established.Moreover,aiming at the system modeling errors and disturbances caused by non-cooperative spacecraft,based on passivity theory and speed observer,a stabilization force/position fuzzy sliding mode control scheme for the clamping operation of the closed-chain hybrid system after capture operation is designed.The proposed scheme based on the passivity theory does not need to actually measure relevant speed signals and has good dynamic characteristics and strong robustness.Moreover,it can effectively resist the interference of the strong impact effect caused by the capture operation on the control system and quickly realize motion stabilization of the closed-chain hybrid system.The system numerical simulation results verify the correctness of the proposed control scheme.
作者
艾海平
陈力
AI Haiping;CHEN Li(School of Energy and Mechanical Engineering, Jiangxi University of Science and Technology, Nanchang 330013, China;School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China)
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2020年第12期1847-1853,共7页
Journal of Harbin Engineering University
基金
国家自然科学基金项目(11372073,11072061)
江西理工大学博士科研启动项目(205200100514).
关键词
漂浮基空间机器人
双臂夹持捕获航天器
闭链混合体系统
无源性理论
冲击效应
速度观测器
力/位置模糊滑模控制
镇定运动
free-floating space robot
capturing spacecraft by dual-arm clamping
closed-chain composite system
passivity theory
impact effect
velocity observer
force/position fuzzy sliding mode control
stabilization control
