摘要
研究了双臂空间机器人在轨辅助对接任务操作的力/位控制问题。首先,利用Lagrange方法并结合系统动量守恒定理、闭链系统运动及几何约束关系等建立了双臂空间机器人捕获目标后形成闭链混合体系统动力学方程;基于阻抗控制理论建立了二阶线性阻抗模型和二阶近似环境模型。然后,考虑在轨任务的快速响应的控制需求以及对接操作所需的高精度力/位控制,针对双臂闭链系统的确定部分设计了标称PD控制器,并针对其建模不确定部分引入滑模变结构控制器来进行精确补偿,以提高力/位的控制精度。结合模糊控制原理,采用将滑模面作为模糊输入,补偿控制增益作为模糊输出的控制方案来实现对固有抖振的抑制。该控制策略不依赖滑模面微分信号,结构可靠,计算效率高,鲁棒性强。最后,通过Lyapunov稳定性判定验证了系统的稳定性。基于Matlab仿真结果分析,验证了所提控制策略的力/位姿控制精度满足在轨对接任务的需求。
The force/pose control problem of a dual-arm space robot in orbit assisted docking mission is studied.Firstly,the Lagrange method is used to establish the dynamics equation of the closed chain hybrid system after the capture of the target of the dual-arm space robot by combining the momentum conservation theorem,the motion of the closed chain system and the geometric constraints.Based on impedance control theory,the second order linear impedance model and the second order approximate environment model are established.Then,considering the control requirements of fast response for on-orbit missions and high-precision force/pose control for docking operations,a nominal PD controller is designed for the deterministic part of the dual-arm closed-chain system,and a sliding mode variable structure controller is introduced to accurately compensate the uncertain part of the modeling,so as to improve the force/pose control accuracy.Based on the fuzzy control principle,a control scheme with sliding mode surface as fuzzy input and compensation control gain as fuzzy output is adopted to realize the suppression of the inherent buffeting.The control strategy does not depend on the sliding mode surface differential signal,and has reliable structure,high computational efficiency and strong robustness.Finally,the stability of the system is verified by Lyapunov stability determination.Based on Matlab simulation results,it is verified that the control accuracy of the proposed control strategy meet the requirements of on-orbit docking tasks.
作者
刘东博
陈力
LIU Dongbo;CHEN Li(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108)
出处
《机械工程学报》
北大核心
2025年第1期60-70,共11页
Journal of Mechanical Engineering
基金
国家自然科学基金(51775114)
福建省工业机器人基础部件技术重大研发平台(2021HZ024006)
福建省机器人基础部件与系统集成创新中心专项资金(2021-C-275)资助项目。
关键词
双臂空间机器人
在轨辅助对接
模糊变结构
阻抗控制
dual-arm space robot
auxiliary docking in orbit
fuzzy variable structure
impedance control
