空间机械臂捕获目标过程的自适应控制仿真  

Adaptive Control Simulation of Space Manipulator Capturing Target

作　　者：董楸煌 陈力[2] 

机构地区：[1]福建农林大学机电工程学院,福州350002 [2]福州大学机械工程及自动化学院,福州350108

出　　处：《系统仿真学报》2014年第12期2969-2973,共5页Journal of System Simulation

基　　金：国家自然科学基金(11372073;11072061)

摘　　要：分析漂浮基空间机械臂捕获未知运动目标受到的冲击效应及系统镇定运动的控制仿真。在建立的漂浮基空间机械臂动力学方程基础上,计算机械臂捕获目标的接触碰撞过程受到的冲击效应。联立空间机械臂与目标的动力学方程,建立捕获后空间机械臂与目标混合体系统的动力学方程。由于捕获过程的冲击效应,混合体系统会产生不稳定运动,并考虑目标参数未知和漂浮基位置欠驱动控制,设计欠驱动增广自适应控制方法,对捕获目标后处于不稳定运动状态的混合体系统进行镇定运动控制。通过数值仿真揭示了碰撞冲击效应对混合体系统运动状态的影响,并验证了上述控制方法的有效性。The impact effect and stabilization control simulation of free-floating space manipulator capturing an unknown motion target were discussed. Based on the dynamics equation of free-floating space manipulator, the impact effect during the space manipulator capturing the target was calculated. Combining the dynamics equations of space manipulator and target, the space manipulator and target combination system dynamics equation after capturing was derived. As a result of the impact effect causing the unstable motion of the combination system, and considering the unknown parameters of target and incomplete actuated control of free-floating base position, an incomplete actuated augmented adaptive control algorithm was designed for the motion stabilization control of the combination system after capturing the target. The simulation results reveal the impact effect for the combination system motion and verify the above control algorithm.

关 键 词：漂浮基空间机械臂 捕获 冲击效应 自适应控制 欠驱动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]