直驱式两指型在轨捕获装置控制器设计  

The Controller Design of A Direct-Drive Two-finger On-Orbit Capturing Device

作　　者：矫日华 倪风雷[1] 金明河[1] JIAO Rihua;NI Fenglei;JIN Minghe(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China)

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室

出　　处：《空间控制技术与应用》2019年第5期8-13,共6页Aerospace Control and Application

摘　　要：针对非合作目标的在轨捕获,本文设计了一种直驱式两指型在轨捕获装置控制器.针对空间单粒子翻转事件影响,采用反熔丝FPGA作为控制器的核心处理单元,实现了多种传感器信息的采集,电机驱动,抱闸控制及与外部的总线通讯,并针对该捕获装置提出了速度控制与力矩控制的复合伺服控制策略,即在合拢和拖动阶段采用速度控制方式,在锁紧阶段采用力矩控制方式.在地面模拟实验平台进行了捕获实验,结果表明该控制器能够实现在捕获过程的运动控制并且保证锁紧力矩达到要求.In order to achieve on-orbit capture of non-cooperative targets,a controller of direct-drive two-finger capturing device is developed in this paper.In order to cope with the influence of the single-event flip event,the controller of the device is designed by using an anti-fuse FPGA,the acquisition of sensor information,motor drive,brake lock control and communication with the external bus are realized,and a compound servo control strategy of speed control and torque control is proposed for the capture device,that is,the speed control method is adopted in the closing and dragging phase,and the torque control method is adopted in the locking phase.Finally,capture experiment is conducted on a ground simulation experimental platform and the results show that the motion control during the capture process can be realized and the locking torque can be guaranteed.

关 键 词：末端执行器 在轨捕获 FPGA控制器 无刷直流电机 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]