空间绳系机器人逼近目标协调控制方法

徐秀栋; 黄攀峰; 孟中杰

doi:10.7527/S1000-6893.2013.0208

航空学报 >

2013 , Vol. 34 >Issue 5: 1222 - 1231

DOI: https://doi.org/10.7527/S1000-6893.2013.0208

材料工程与机械制造

空间绳系机器人逼近目标协调控制方法

徐秀栋 ,
黄攀峰 ,
孟中杰

展开

西北工业大学航天飞行动力学技术重点实验室, 陕西西安 710072

徐秀栋男, 博士研究生。主要研究方向: 空间绳系机器人动力学、轨迹规划与协调控制。 Tel: 029-88460366 E-mail: 21baoshan@163.com;黄攀峰男, 博士, 教授。主要研究方向: 空间机器人学、遥操作, 导航、制导与控制。 Tel: 029-88460366 E-mail: pfhuang@nwpu.edn.cn

收稿日期: 2012-06-26

修回日期: 2012-08-03

网络出版日期: 2012-08-16

基金资助

西北工业大学博士论文创新基金(CX201217);国家自然科学基金(60805034,61005062);航天飞行动力学技术重点实验室开放基金(2012afdl022)

收起

Coordinated Control Method of Space Tethered Robot for Approaching Targets

XU Xiudong ,
HUANG Panfeng ,
MENG Zhongjie

Expand

National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China

Received date: 2012-06-26

Revised date: 2012-08-03

Online published: 2012-08-16

Supported by

Doctorate Foundation of Northwestern Polytechnical University (CX201217);National Natural Science Foundation of China(60805034,61005062);Open Research Foundation of Science and Technology on Aerospace Flight Dynamics Laboratory(2012afdl022)

Fold

摘要

为了节省空间绳系机器人的末端执行装置在逼近目标卫星过程中推力器所使用的燃料,本文提出一种利用推力器、反作用轮及空间系绳的协调控制方法。首先利用二次型最优控制器(LQR)算法计算出末端执行装置逼近目标所需的理想轨道控制力,然后利用模拟退火算法将所需轨道控制力优化分配到推力器及空间系绳,同时利用时间延迟算法通过反作用轮补偿空间系绳产生的姿态干扰力矩。仿真结果表明,利用该协调控制方法能显著节省末端执行装置上推力器的燃料消耗,有效抑制空间系绳协调控制力产生的姿态干扰,使末端执行装置保持相对稳定的姿态。

关键词： 空间绳系机器人; LQR算法; 协调控制; 模拟退火; 时间延迟

本文引用格式

徐秀栋 , 黄攀峰 , 孟中杰 . 空间绳系机器人逼近目标协调控制方法[J]. 航空学报, 2013 , 34(5) : 1222 -1231 . DOI: 10.7527/S1000-6893.2013.0208

Abstract

In order to save the thruster fuel of an end effector for a space tethered robot in the process of approaching a target satellite, a coordinated control method is proposed in the paper which utilizes the thruster, the reaction wheel and the space tether. First, this method calculates the ideal orbit control force of the end effector for the approaching target by linear quadratic regulator (LQR) algorithm. Then this force is allocated to the thrusters and space tether through optimization using a simulated annealing algorithm. Simultaneously, the attitude interferential torque of the space tether is compensated through a reaction wheel using the time delay algorithm. The simulation results show that the coordinated control method can significantly save thruster fuel of the end effector, and it also restrains attitude disturbance produced by the coordinated control force of the space tether and maintains relative attitude stability of the end effector.

Key words： space tethered robot; LQR algorithm; coordinated control; simulated annealing; time delay

参考文献

[1] Nakamura Y, Sasaki F, Nakasuka S. Guidance and control of "tethered retriever" with collaborative tension-thruster control for future on-orbit service missions. Proceedings of the 8th International Symposium on Artificial Intelligence,Robotics and Automation in Space-iSAIRAS, 2005:5-8.
[2] Nohmi M, Nenchev D N, Uchiyama M. Tethered robot casting using a spacecraft-mounted manipulator. Journal of Guidance, Control and Dynamics, 2001, 24(4): 827-833.
[3] Nohmi M. Attitude control of a tethered space robot by link motion under microgravity. Proceedings of the 2004 IEEE International Conference on Control Applications, 2004: 424-429.
[4] Godard, Kumar K D, Tan B. Fault-tolerant stabilization of a tethered satellite system using offset control. Journal of Spacecraft and Rockets, 2008, 45(5): 1070-1084.
[5] Mori O, Matunaga S. Coordinated control of tethered satellite cluster systems. AIAA Guidance, Navigation, and Control Conference and Exhibit, 2001:6-9.
[6] Chang I, Chung S J. Bio-inspired adaptive cooperative control of heterogeneous robotic networks. AIAA Guidance, Navigation, and Control Conference, 2009.
[7] Zhu R Z. Rendezvous and docking technique of spacecraft. Beijing: National Defense Industry Press, 2007: 23-31. (in Chinese) 朱仁璋. 航天器交会对接技术. 北京:国防工业出版社, 2007: 23-31.
[8] Edwards C, Spurgeon S K, Patton R J. Sliding mode observers for fault detection and isolation. Automatica, 2000, 36(4): 541-553.
[9] Huang Z G. Attitude dynamics of spacecraft. Changsha:National University of Defence Technology Press, 1997: 169-172. (in Chinese) 黄圳圭. 航天器姿态动力学. 长沙:国防科技大学出版社, 1997: 169-172.
[10] Chen G, Wan Z M, Xu M, et al. Overview of spacecraft trajectory optimization using genetic algorithm. Journal of Ballistics, 2006, 18(1): 1-5. (in Chinese) 陈刚, 万自明, 徐敏,等. 遗传算法在航天器轨迹优化中的应用. 弹道学报, 2006, 18(1): 1-5.
[11] Luo Y Z, Tang G J, Li H Y. Optimization of multiple-impulse minimum-time rendezvous with impulse constraints using a hybrid genetic algorithm. Aerospace Science and Technology, 2006, 10(6): 534-540.
[12] Radice G, Olmo G. Ant colony algorithms for two-impulse interplanetary trajectory optimization. Journal of Guidance, Control, and Dynamics, 2006, 29(6): 1440-1443.
[13] Luo Y Z, Tang G J. Spacecraft optimal rendezvous controller design using simulated annealing. Aerospace Science and Technology, 2005, 9(8): 732-737.
[14] Zhu J F, Xu S J. Optimization of lunar soft landing trajectory based on adaptive simulated annealing genetic algorithm. Acta Aeronautica et Astronautica Sinica, 2007, 28(4): 806-812. (in Chinese) 朱建丰,徐世杰. 基于自适应模拟退火遗传算法的月球软着陆轨道优化. 航空学报, 2007, 28(4): 806-812.
[15] Youcef-Toumi K, Reddy S. Analysis of linear time invariant systems with time delay. Journal of Dynamic Systems, Measurement and Control, 1992, 114(4):544-555.

Options

文章导航

模态框（Modal）标题

摘要

本文引用格式

Abstract

参考文献