空间绳系机器人捕获目标后的面内自适应回收方法

doi:10.7527/S1000-6893.2015.0059

材料工程与机械制造

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空间绳系机器人捕获目标后的面内自适应回收方法

孟中杰^1,2, 黄攀峰^1,2, 王东科^1,2

1. 西北工业大学航天学院智能机器人研究中心, 西安 710072;
2. 航天飞行动力学技术国家级重点实验室, 西安 710072

收稿日期:2014-11-18 修回日期:2015-03-02 出版日期:2015-12-15 发布日期:2015-03-12
通讯作者: 孟中杰,Tel.:029-88460366-802,E-mail:mengzhongjie@nwpu.edu.cn E-mail:mengzhongjie@nwpu.edu.cn
作者简介:孟中杰,男,博士,副教授。主要研究方向:利用系绳的空间操控技术,非线性控制Tel:029-88460366-802,E-mail:mengzhongjie@nwpu.edu.cn
基金资助:
国家自然科学基金(11272256);中央高校基本科研业务费专项资金(3102014JCQ01005)

In-plane adaptive retrieval method for tethered space robots after target capturing

MENG Zhongjie^1,2, HUANG Panfeng^1,2, WANG Dongke^1,2

1. Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Xi'an 710072, China

Received:2014-11-18 Revised:2015-03-02 Online:2015-12-15 Published:2015-03-12
Supported by:
National Natural Science Foundation of China (11272256); Fundamental Research Funds for the Central Universities (3102014JCQ01005)

摘要/Abstract

摘要：

在空间绳系机器人(TSR)捕获目标星后,操作机构与目标星形成质量、惯量和系绳连接点位置等参数未知的组合体,且系绳长度、偏角与组合体姿态严重耦合,控制输入严格受限,回收控制十分困难。针对其回收难题,综合考虑系绳长度、系绳偏角与组合体姿态,利用拉格朗日法建立了轨道面内的动力学模型,并基于动态逆理论设计了一种自适应抗饱和回收控制方法。首先,在对组合体质量、惯量与系绳连接点进行在线估计的基础上,设计一种自适应动态逆回收控制器;然后,设计辅助变量对控制输入进行补偿,解决控制输入受限问题;最后进行仿真验证。仿真结果表明,在线估计器能够快速有效地估计组合体动力学参数,回收控制系统能够利用受限的控制输入克服抓捕时刻的系绳偏角和组合体姿态扰动,并沿设计的回收轨迹实现稳定有效回收。

关键词: 空间绳系机器人, 动力学模型, 回收控制, 动态逆控制, 自适应控制, 抗饱和

Abstract:

After a target satellite is captured by the tethered space robot (TSR), the operator of TSR and the target satellite compose a combination with uncertain mass, inertia and tether junction position. The tether length, tether deflection and combination attitude are coupled seriously and control inputs are strictly limited, which make the retrieval of TSR very difficult. For the retrieval problem, the in-plane dynamic model is established using the Lagrangian method by considering the tether length, tether deflection and the combination attitude. An adaptive and anti-saturation control method is designed based on dynamic inversion theory. Firstly, an adaptive dynamic inversion retrieval controller is designed based on the online estimation of the combination mass, inertia and the tether junction position. Then, auxiliary variables are designed to compensate the inputs, which solve the problem of the limited control inputs. Finally, numerical simulations are conducted to validate the feasibility of the controller. Simulation results show that the online estimator can estimate the uncertain parameters fast and effectively. The retrieval controller can overcome disturbances of the tether deflection and combination attitude by limited inputs. The combination is retrieved stably and effectively along the designed trajectory.

Key words: tethered space robots, dynamic model, retrieval control, dynamic inversion control, adaptive control, anti-saturation

中图分类号:

V448.22

孟中杰, 黄攀峰, 王东科. 空间绳系机器人捕获目标后的面内自适应回收方法[J]. 航空学报, 2015, 36(12): 4035-4042.

MENG Zhongjie, HUANG Panfeng, WANG Dongke. In-plane adaptive retrieval method for tethered space robots after target capturing[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(12): 4035-4042.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

空间绳系机器人捕获目标后的面内自适应回收方法

In-plane adaptive retrieval method for tethered space robots after target capturing

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