空间机器人双臂捕获卫星后辅助对接操作控制仿真  

Auxiliary Docking Maneuver Control Simulation of Dual-arm Space Manipulator After Capturing Operation

作　　者：程靖 陈力 Cheng Jing;Chen Li(School of Mechanical Engineering and Automation,Fuzhou University,Fujian Provincial Collaborative Innovation Center of High-End Equipment Manufacturing,Fuzhou 350116,China)

机构地区：[1]福州大学机械工程及自动化学院福建省高端装备制造协同创新中心,福州350116

出　　处：《系统仿真学报》2018年第9期3429-3436,共8页Journal of System Simulation

基　　金：国家自然科学基金(11372073;11072061);福建省工业机器人基础部件技术重大研发平台(2014H21010011)

摘　　要：讨论了空间机器人双臂捕获卫星后辅助对接操作的协调控制问题。利用冲量定理、闭环约束条件建立了空间机器人双臂捕获卫星后闭链混合体的系统动力学方程,并分析了混合体系统受到的冲击效应。针对参数不确定的混合体系统,设计了基于扩张状态观测器的协调鲁棒控制方案。该方案利用扩张状态观测器对未知模型进行动态估计补偿,结合状态反馈控制保证了辅助对接操作控制的精度。通过Lyapunov理论,证明了系统的稳定性。通过数值仿真实验验证了所提闭链混合体系统辅助对接操作控制方案的有效性。The auxiliary docking maneuver coordination control problems for dual-arm space robot capturing a target are discussed. The dynamic model of closed chain composite system is established based on theorem of impulse and closed-loop constraints, the impact effect of composite system after capturing operation is analyzed at the same time. The robust coordinated control method based on extended state observer（ESO） is designed for the composite system with uncertain parameters. The extended state observer is used to estimate and compensate the unknown dynamics; the precision of docking maneuver is guaranteed by composition and state feedback control. The stability of system is demonstrated through Lyapunov theory. Numerical examples confirm the effectiveness of the proposed auxiliary docking maneuver control method.

关 键 词：双臂空间机器人 捕获操作 闭链系统 扩张状态观测器 辅助对接操作 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]