航天服软关节小样本阻力矩预测方法研究  

Research on Prediction Method of Small Sample Resistance Torque of Spacesuit Soft Joint

作　　者：董长林 周仕明 李道奎[1,2] DONG Changlin;ZHOU Shiming;LI Daokui(College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China;Hunan Key Laboratory of Intelligent Planning and Simulation for Aerospace Missions,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学空天科学学院,长沙410073 [2]空天任务智能规划与仿真湖南省重点实验室,长沙410073

出　　处：《载人航天》2022年第4期499-509,共11页Manned Spaceflight

基　　金：湖南省研究生科研创新项目(CX20200083)。

摘　　要：为实现在航天服设计阶段对关节阻力矩的快速预测和评估,提出了小样本条件下的航天服软关节阻力矩预测方法。分析了Preisach模型用于关节阻力矩预测时误差产生的原因,并利用其积分平面性质对模型进行了修正,降低了预测误差;推导了修正后的Preisach模型在小样本条件下的预测误差,得到了输入数据对模型积分平面表征的贡献度,据此提出了小样本阻力矩预测方法。运用该方法进行了复杂运动的阻力矩预测,预测结果的最大误差显著降低,表明小样本阻力矩预测方法能够在满足预测精度要求的前提下降低对样本数据的需求。To realize the rapid prediction and evaluation of the joint resistance torque in spacesuit design stage,a method for predicting the resistance torque of spacesuit soft joints under small sample condition was proposed.The causes of errors in the prediction of joint resistance torque by Preisach model were analyzed.Then the model was modified by using its integral plane property and the prediction error was reduced.The prediction error of the modified Preisach model under the condition of small samples was derived.The contribution of the input data to the integral plane of the model was obtained,and a small sample resistance torque prediction method was proposed.The method was applied to predict the resistance torque of complex motions and the maximum error of the prediction results was significantly reduced.The results showed that the small sample resistance torque prediction method could reduce the demand for sample data on the premise of meeting the prediction accuracy requirements.

关 键 词：航天服 关节阻力矩 PREISACH 小样本 阻力矩预测 

分 类 号：V45[一般工业技术—材料科学与工程]