考虑空间系绳释放特性的空间绳系机器人协调耦合控制  

Coordinated coupling control of tethered space robot for considering releasing characteristics of space tether

作　　者：黄攀峰[1,2] 张帆[1,2] 徐秀栋[1,2] 

机构地区：[1]西北工业大学航天学院,西安710072 [2]西北工业大学飞行动力学技术重点实验室,西安710072

出　　处：《控制与决策》2015年第6期961-968,共8页Control and Decision

基　　金：国家自然科学基金项目(11272256);西北工业大学博士论文创新基金项目(CX201217)

摘　　要：针对空间绳系机器人的轨迹跟踪控制问题,提出考虑系绳释放特性的跟踪轨迹协调控制方法.该方法考虑系绳释放的动力学特性,在最优轨迹规划过程中将系绳释放速度作为一个规划量,将系绳释放机构的转矩作为一个控制输入,结合操作机器人上推力器控制输入设计协调耦合位姿控制器.该方法的优点是控制输入易于施加,可工程实现系绳协调控制.仿真结果表明,操作机器人能精确跟踪最优轨迹,末端误差为±0.1m,且能有效跟踪期望姿态,精度在±0.2°.According to the tracking optimal trajectory control problem of the tethered space robot（TSR） for approaching the target, a coordinated coupling control method for considering releasing characteristics of the space tether is proposed. This method considers the dynamic characteristics of releasing tether, the releasing velocity of tether can be taken as planning input towards optimal trajectory planning, and the releasing mechanism torque can be seen as one control input. The 6-DOF coordinated coupling controller is designed with the help of thruster control input and releasing motor control input for tracking optimal trajectory and desired attitude. It is easy to impose and achieve engineering application for the auxiliary control of the space tether by utilizing the proposed method. The simulation results show that the TSR can track optimal trajectory accurately, and the terminal error is ±0.1 m. Furthermore, the TSR can track the desired attitude effectively, and the error is ±0.2°.

关 键 词：空间绳系机器人 协调耦合控制 空间系绳 推力器 释放机构 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]