星载串联型柔性抓捕机构的多级阻尼镇定控制  

Multi-stage damping stabilization control for a space-borne series-wound flexible capturing mechanism

作　　者：褚明[1,2] 董正宏 任珊珊 贾庆轩 CHU Ming;DONG Zhenghong;REN Shanshan;JIA Qingxuan(Automation School, Beijing University of Posts and Telecommunications, Beijing 100876, China;MOE Engineering Research Center for Space Robotics, Beijing 100876, China;Department of Academic and Research, Space Engineering University, Beijing 101416, China)

机构地区：[1]北京邮电大学自动化学院,北京100876 [2]空间机器人技术教育部工程研究中心,北京100876 [3]航天工程大学科研学术处,北京101416

出　　处：《振动与冲击》2018年第5期42-49,共8页Journal of Vibration and Shock

基　　金：国家自然科学基金资助项目(51305039);总装科技创新工程项目(ZYX12010001);国家重点基础研究发展计划资助项目(2013CB733000)

摘　　要：利用星载抓捕机构进行航天器对接是实现在轨操作的重要环节,对接引入的碰撞力易引起抓捕机构及漂浮基座的扰动失稳。针对捕获后不稳定系统的镇定控制问题,提出了一种具有多级可控阻尼的串联型柔性抓捕机构广义模型,并利用Kane方法建立了漂浮基座耦合柔性抓捕机构的一体化动力学方程。将全局分散的多级阻尼力模化为微粒群,构建了目标适应度函数,基于微粒群优化算法实现了不稳定系统的多级阻尼优化镇定控制。对某型星载12自由度柔性抓捕机构进行数值仿真,结果表明提出的控制方法能显著改善基座和柔性抓捕机构的动力学响应,保证系统渐近稳定。在研制的二关节四级阻尼柔性抓捕机构原理样机上开展捕获碰撞模拟实验,验证了多级阻尼镇定控制方法的有效性。Using a space-borne tandem arrest mechanism to do spacecraft docking is an important link of on-orbit operations.Impact force induced by docking is easy to cause disturbance and instability of the capture mechanism and the free-floating base.Aiming at the stabilization control problem of an unstable system after capturing,a generalized model for a series-wound flexible capturing mechanism with multi-stage controllable damping was proposed.Furthermore,integrated dynamic equations for the free-floating base-capturing mechanism coupled system were established using Kane approach.The global dispersive multi-stage damping forces were modeled as a particle swarm,and an objective fitness function was constructed.Based on the particle swarm optimization(PSO),a multi-stage damping optimal stabilization control for the unstable system was realized.The numerical simulation results of a certain type of space-borne12-DOF flexible arrest mechanism showed that the proposed control method can significantly improve dynamic responses of the capturing mechanism and the free-floating base after docking to guarantee the system to be asymptotically stable.Finally,the capturing collision simulation test was conducted on the prototype of a two-joint four-stage damping flexible capturing mechanism.The effectiveness of the multi-stage damping stabilization control method was verified with the test results.

关 键 词：空间对接 抓捕机构 多级阻尼 微粒群优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]