冗余空间机械臂抓捕自旋卫星后的消旋控制  

Detumbling Control for Kinematically Redundant Space Manipulator Post-Grasping a Rotational Satellite

作　　者：王明明[1,2] 罗建军 余敏[1] 袁建平 WANG Ming- ming;LU;YU Min;YUAN Jian-ping(Science and Technology on Aerospace Flight Dynamic Laboratory, Northwestern Polytechnical Universit,Xi＇an 710072,China;Research Institute of Northwestern Polytechnical University in Shenzhen,Shenzhen 518057, China)

机构地区：[1]西北工业大学航天飞行动力学技术重点实验室,西安710072 [2]西北工业大学深圳研究院,深圳518057

出　　处：《宇航学报》2018年第5期550-561,共12页Journal of Astronautics

基　　金：国家自然科学基金(61603304;61690210;61690211);深圳未来产业专项资金(JCYJ20160531174213774)

摘　　要：旨在提出一种运动学冗余空间机器人抓捕自旋卫星后的消旋策略和协调控制方法。首先,给出运动学冗余空间机器人捕获目标后的动力学模型,作为协调控制器设计基础。然后,基于四阶Bézier曲线和满足特定约束的自适应微分进化(Differential Evolution,DE)算法提出抓捕后的最优消旋与路径规划策略,最优消旋策略中同时考虑对消旋时间和控制力矩进行优化。提出一种跟踪所设计参考轨迹的协调控制方法,调整基座的姿态达到期望值。所提方法有效地衰减了自旋卫星的初始角速度,同时实现对基座姿态的控制。文末给出利用7 DOF冗余空间机械臂消除目标自旋运动的仿真结果,表明所提方法的有效性。The objective of this paper is to establish a detumbling strategy and a coordinated control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. Firstly,the dynamics of the kinematically redundant space robot after target grasping is presented,which lays a foundation for the coordination controller design.Subsequently,the optimal detumbling and motion planning strategies for the post-capture phase are proposed based on the quartic Bézier curves and adaptive differential evolution（DE） algorithm subject to the specific constraints. Both the detumbling time and control torques are taken into account for the generation of the optimal detumbling strategy.Furthermore,a coordinated control scheme is presented to track the designed reference path while regulating the attitude of the chaser to a desired value,which successfully dumps the initial angular velocity of the rotational satellite and controls the base attitude synchronously. The simulation results are presented for detumbling a target with rotational motion using a 7 degree-of-freedom（DOF） redundant space manipulator,which demonstrate the effectiveness of the proposed method.

关 键 词：消旋策略 协调控制 抓捕后阶段 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]