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针对空间绳系机器人抓捕无控目标过程中的自身稳定控制问题,提出一种操作机械臂主动阻尼控制与利用空间系绳、反作用轮进行基体姿态稳定控制相结合的协同稳定控制方法.文中首先建立了空间绳系机器人抓捕目标的动力学模型及与目标的接触碰撞模型,分析了抓捕过程中空间绳系机器人及目标的运动状态,在此基础上设计了操作机械臂关节主动阻尼控制律以减小碰撞力对操作机械臂末端的冲击,结合基体姿态的变化设计了滑模姿态稳定控制律,通过空间系绳和反作用轮提供基体所需的滑模姿态控制力矩.在抓捕目标仿真过程中对关节主动阻尼控制方法和所提出的协同稳定控制方法进行比较分析,结果表明,本文提出的抓捕目标协同稳定控制方法能很好地稳定操作机械臂和基体,且空间系绳对基体及目标的扰动影响很小,达到了空间绳系机器人抓捕目标时自身稳定的要求.
In order to solve the problem of self-stability control of spacecraft tethered robots in the process of arresting uncontrolled targets, a collaborative stable control method is proposed, which combines the active damping control of manipulator with the control of the attitude stability of spacecraft using space tether and reaction wheel. The dynamic model and the contact and collision model with the target of the space rover robot are established. The motion state of the space rover robot and the target in the process of arresting is analyzed. On the basis of this, the active damping control of manipulator manipulator is designed Law to reduce the impact of the collision force on the end of the manipulator manipulator, combined with the change of the attitude of the matrix designed sliding stability control law, through the space tether and the reaction wheel to provide the matrix required sliding mode attitude control torque in the capture target In the process of simulation, the active joint damping control method and the proposed cooperative stability control method are comparatively analyzed. The results show that the proposed cooperative arrest control method can stably manipulate the manipulator arm and the base body, and the space tether pair The disturbance of the base body and the target has little effect and reaches the target of the space rover robot Stability requirements.