空间机械臂地面竖直方向重力补偿控制系统设计  

Design of the Gravity Compensation Control System in the Vertical Direction on the Ground for Space Manipulator

作　　者：徐永利[1,2] 李潇男 刘勇[1,2] 杨明毅[1,2] 刘明洋[1,2] XU Yongli;LI Xiaonan;LIU Yong;YANG Mingyi;LIU Mingyang(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110169,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110169 [3]中国科学院大学,北京100049

出　　处：《机器人》2020年第2期191-198,共8页Robot

摘　　要：为解决大型空间机械臂地面微重力模拟实验问题,设计了一种3维主动悬吊式重力补偿系统.系统主要由水平2维直线运动单元与竖直重力平衡吊挂单元组成,在竖直方向上通过恒张力控制思想实现微重力模拟,并给出了带负载的伺服电机的数学模型.提出一种基于模糊PID(比例―积分―微分)参数整定的力/位混合控制方法,并研究了在未知负载干扰、系统干扰以及机械臂不同运动速度下控制器的控制性能.仿真实验结果表明,该控制方法能够将重力补偿精度保持在0.3%F.S(全量程)之内,使得系统具有较强的鲁棒性和动态响应能力.In order to solve the problem of ground microgravity simulation experiment of large space manipulator, a threedimensional active suspension gravity compensation system is designed. The system is mainly composed of a horizontal two-dimensional linear motion unit and a vertical gravity balance suspension unit. The microgravity simulation is realized by the idea of constant tension control in the vertical direction. The mathematical model of the servo motor with load is given.A hybrid force/position control method based on fuzzy PID(proportional-integral-differential) parameter tuning is proposed.The control performance of the controller with unknown load and system interference under the different motion speeds of the manipulator is studied. The simulation results show that the control method can keep the gravity compensation accuracy within 0.3%F.S(full scale), and the system has strong robustness and dynamic response capability.

关 键 词：空间机械臂 微重力模拟 恒张力控制 模糊PID(比例―积分―微分)控制 力/位混合控制 

分 类 号：V416.5[航空宇航科学与技术—航空宇航推进理论与工程]