摘要
利用空间机械臂进行在轨组装、维护、燃料加注等已成为必然趋势,而插、拔孔操作是实现上述任务的基础。讨论了空间机械臂在轨插、拔孔操作的阻抗控制问题。首先,建立了载体位置、姿态均不受控下,空间机械臂在轨插、拔孔操作过程系统动力学方程;由末端部件插头位姿及其输出主动力之间的动态关系以及阻抗控制原理,建立了阻抗控制模型。在此基础上,针对系统同时存在动力学不确定与外部扰动的情况,基于事件触发机制,设计了空间机械臂在轨插、拔孔操作事件触发滑模阻抗控制策略;并通过李雅普诺夫理论,证明了控制系统的稳定性。该控制策略的作用机理即:当系统保持稳定时,控制输入不更新;当系统趋于不稳定时,控制输入更新。由于不必时时更新控制律,系统内部传输及计算的数据量较少,更适于空间站计算机运算、存储能力有限的情况。系统数值仿真,验证了上述控制策略的有效性。
It has become an inevitable trend to use space manipulator for orbit assembly,maintenance and fuel filling,and the insertion and extraction is the basis to achieve the above tasks.The impedance control problems for space manipulator orbit insertion and extraction are discussed.Firstly,the dynamic equation of system is derived when the pose of the carrier are not controlled,and the impedance control model is established based on the dynamic relationship between the pose,the driving force,and the impedance control principle.Then,aiming at the uncertainty of dynamics and the external disturbance,based on the event triggered mechanism,an event triggering sliding mode impedance control strategy is designed to control the space manipulator.The stability of the control system is proved through Lyapunov theory.The mechanism of the control strategy is:when the system is stable,the control input is not updated;when the system tends to be unstable,the control input is updated.For the control law does not need to be updated at all times,the amount of data transmitted and calculated in the system is less,it is more suitable for the limited computing and storage capacity of the space station computer.The numerical simulation verifies the effectiveness of the control strategy.
作者
曾晨东
艾海平
陈力
ZENG Chendong;AI Haiping;CHEN Li(College of Energy and Mechanical Engineering,Jiangxi University of Science and Technology,Nanchang 330013;College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350116)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2022年第3期84-94,共11页
Journal of Mechanical Engineering
基金
国家自然科学基金(11372273)
福建省工业机器人基础部件技术重大研发平台(2014H21010011)资助项目。
关键词
空间机械臂
在轨
插、拔孔
事件触发机制
滑模阻抗控制
space manipulator
orbit
insertion and extraction
event triggering mechanism
sliding mode impedance control
