捕获目标后组合体航天器抗干扰自适应控制  

Adaptive Control for Stabilizing the Coupling System with Disturbance after Capturing Spacecraft

作　　者：王益平[1] 赵育善[1] 师鹏[1] 郑翰清 

机构地区：[1]北京航空航天大学宇航学院,北京100191 [2]上海航天控制技术研究所,上海200233

出　　处：《中国空间科学技术》2015年第6期20-28,共9页Chinese Space Science and Technology

基　　金：国家自然科学基金(11102007);国家基本科研业务费(YWF-14-YHXY-012)资助项目

摘　　要：针对空间机器人系统捕获非合作目标后由于质量特性参数和动量突变影响导致的组合体系统失稳问题,提出了一种基于系统动力学模型的抗干扰自适应控制方法。利用拉格朗日方法对系统进行动力学建模,通过冲击动力学建模分析得到了捕获目标后组合体系统的初始状态;基于系统动力学模型设计了线性反馈控制方法,考虑组合体质量特性参数不确定性以及外在干扰不确定性,对组合体系统动力学模型进行了不确定参数线性化,设计了参数自适应线性反馈控制方法;最后以平面三关节机械臂系统捕获旋转目标为例进行了仿真计算。组合体系统的运动状态量趋于期望值,速度级状态变量误差量级控制在10^(-4)以下,位置级状态变量误差量级控制在10^(-3)以下,说明该控制方法可以很好地保持捕获目标后组合体系统的稳定。An adaptive system was proposed, for th characteristics and momentum control based on dynamics model for stabilizing the coupling e coupling system may be unstable due to the change in mass of the coupling system. The dynamics of system was modelled and the velocities of coupling system were derived from the impact model. Based on the dynamic model developed, the linear feedback controller was designed. Because of the uncertainty on the dynamic parameters and disturbance, the dynamic model was linearly parametric with respect to a group of unknown dynamic parameters and unknown disturbance. Then, the adaptive linear feedback controller was designed. Using a three-DOF planar space manipulator, the numerical simulation was carried out. The simulation results confirm the controller is feasible and effective.

关 键 词：组合体系统 冲击动力学 干扰 线性化 自适应控制 在轨捕获 空间机械臂 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]