筒类舱段主动柔顺对接策略  

Active compliant docking strategy for barrel-type cabins

作　　者：许家忠[1] 陈继元 黄成 XU Jia-zhong;CHEN Ji-yuan;HUANG Cheng(School of Automation,Harbin University of Science and Technology,Harbin 150080,China)

机构地区：[1]哈尔滨理工大学自动化学院,哈尔滨150080

出　　处：《电机与控制学报》2021年第9期140-146,共7页Electric Machines and Control

基　　金：国家自然科学基金(91948202)。

摘　　要：针对筒类舱段柔顺对接问题,研究了筒类舱段对接碰撞过程,提出一种基于阻抗控制的对接策略。通过对舱段位姿调整量进行运动学逆解,建立对接机构运动学模型。在传统阻抗控制的基础上,结合模型参考自适应(MRAC)控制方法设计了一种自适应阻抗控制系统,在环境刚度突变与环境位置改变的外部干扰下,自适应阻抗能使筒类舱段对接控制系统在短时间内恢复稳态,解决了阻抗控制消饵干扰能力弱与舱段对接过程中的力碰撞问题,实现舱段的主动柔顺对接。仿真结果表明,MRAC自适应阻抗控制相比传统阻抗与模糊自适应阻抗控制而言,能够有效地提高筒类舱段对接控制系统的鲁棒性与稳定性,所提对接策略能够有效地调节舱段在对接过程中的接触力,实现筒类舱段的柔顺对接,满足筒类舱段的实际对接需求。Aiming at the problem of compliant docking of Barrel-type cabins,the docking collision process of Barrel-type cabins was studied,and a docking strategy based on impedance control was proposed.The kinematics model of the docking mechanism was established by inverse kinematics solution of the cabin position and attitude adjustment.Based on the traditional impedance control,combined with the model reference adaptive(MRAC)control method,an adaptive impedance control system was designed.Under the external interference of the sudden change of environmental stiffness and the change of the environmental position,the control system of the tank class can be docked.The steady state was restored in a short time,the problem of weak collision resistance of impedance control decoy and the force collision in the docking process of the cabin section was solved,and the active soft docking of the cabin section was realized.Simulation experiments show that compared with traditional impedance and fuzzy adaptive impedance control,MRAC adaptive impedance control system can effectively improve the robustness and stability of the docking control system of the tank class,and the proposed docking strategy can effectively adjust the contact force of the tank section during the docking process to realize the tank class.The flexible docking of the segment meets the actual docking requirements of the tube class.

关 键 词：筒类舱段 对接策略 主动柔顺 自适应阻抗 运动学模型 力反馈控制 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]