中国空间科学技术
中國空間科學技術
중국공간과학기술
Chinese Space Science and Technology
2015年
4期
1-9
,共9页
在轨加注%杆-锥式模型%碰撞模型%碰撞力%力/位混合控制%空间机器人
在軌加註%桿-錐式模型%踫撞模型%踫撞力%力/位混閤控製%空間機器人
재궤가주%간-추식모형%팽당모형%팽당력%력/위혼합공제%공간궤기인
On-orbit refueling%Pole-cone model%Impact mode%Contact force%Hybrid force/position control%Space robot
为削弱在轨加注过程中主被动端碰撞冲击对空间机器人的影响，提出了基于力／位混合的柔顺控制律。首先通过第二类拉格朗日方程建立了漂浮基座空间机器人一般运动学模型和考虑环境接触的动力学模型。其次，设计了“杆‐锥式”加注主被动端装置，根据主被动端的接触特点，建立了点面接触的碰撞动力学模型，并给出相应的碰撞力计算方法。接着，将加注对接问题转化为以基座为参考系的末端运动控制问题，得到了机械臂关节期望运动规律，进而设计了位置环控制律；根据加注主被动端的位置关系计算得到碰撞力，进而设计了力／力矩环控制律，结合顺应选择矩阵最终得到力／位混合控制器，以减小杆锥对接时碰撞对空间机器人基座及末端的冲击影响。最后，仿真结果表明，对接方向的位置误差由初始值降至零，对接过程碰撞产生的力不超过10 N ，满足末端工具冲击承载。各关节角度变化平缓，关节力矩不超过13 N m ，满足机械臂关节力矩最小承载，所设计的控制器使得加注主被动端完成柔顺对接。
為削弱在軌加註過程中主被動耑踫撞遲擊對空間機器人的影響，提齣瞭基于力／位混閤的柔順控製律。首先通過第二類拉格朗日方程建立瞭漂浮基座空間機器人一般運動學模型和攷慮環境接觸的動力學模型。其次，設計瞭“桿‐錐式”加註主被動耑裝置，根據主被動耑的接觸特點，建立瞭點麵接觸的踫撞動力學模型，併給齣相應的踫撞力計算方法。接著，將加註對接問題轉化為以基座為參攷繫的末耑運動控製問題，得到瞭機械臂關節期望運動規律，進而設計瞭位置環控製律；根據加註主被動耑的位置關繫計算得到踫撞力，進而設計瞭力／力矩環控製律，結閤順應選擇矩陣最終得到力／位混閤控製器，以減小桿錐對接時踫撞對空間機器人基座及末耑的遲擊影響。最後，倣真結果錶明，對接方嚮的位置誤差由初始值降至零，對接過程踫撞產生的力不超過10 N ，滿足末耑工具遲擊承載。各關節角度變化平緩，關節力矩不超過13 N m ，滿足機械臂關節力矩最小承載，所設計的控製器使得加註主被動耑完成柔順對接。
위삭약재궤가주과정중주피동단팽당충격대공간궤기인적영향，제출료기우력／위혼합적유순공제률。수선통과제이류랍격랑일방정건립료표부기좌공간궤기인일반운동학모형화고필배경접촉적동역학모형。기차，설계료“간‐추식”가주주피동단장치，근거주피동단적접촉특점，건립료점면접촉적팽당동역학모형，병급출상응적팽당력계산방법。접착，장가주대접문제전화위이기좌위삼고계적말단운동공제문제，득도료궤계비관절기망운동규률，진이설계료위치배공제률；근거가주주피동단적위치관계계산득도팽당력，진이설계료력／력구배공제률，결합순응선택구진최종득도력／위혼합공제기，이감소간추대접시팽당대공간궤기인기좌급말단적충격영향。최후，방진결과표명，대접방향적위치오차유초시치강지령，대접과정팽당산생적력불초과10 N ，만족말단공구충격승재。각관절각도변화평완，관절력구불초과13 N m ，만족궤계비관절력구최소승재，소설계적공제기사득가주주피동단완성유순대접。
Force/position hybrid compliant control law was proposed to weaken the effect on space manipulator when an active device was involved in a collision with a passive device . Firstly , using the second kind of Lagrange equations , the floating base space manipulator kinematics and dynamics model were constructed considering the contact environment . Secondly ,a pole‐cone type refueling device was given .According to the contact characteristics of the active and passive device , a point‐surface contact collision dynamics model was established , and the corresponding collision force calculation method was given . Then , refueling docking problem was formulated for spacecraft‐referenced end‐point motion control problem . On this basis , the desired manipulator end‐point trajectory was planned and the position loop control law was proposed . The collision force was obtained according to the position between the refueling active and passive devices ,and the force/torque loop control law was proposed . Furthermore , combined with adaptation selection matrix , the force/position hybrid controller was obtained to reduce the collision impact on space robot . Finally , simulation results show that the docking direction position error reduces to zero from the initial value , and the collision force is less than 10 N during docking , and joint torque does not exceed 13 Nm . The active and passive devices complete compliant contract by the designed force/position hybrid controller .
