空间机械臂在轨插拔孔操作的超扭曲滑模阻抗控制  

Super twist sliding mode impedance control for space manipulator orbit insertion and extraction

作　　者：曾晨东 艾海平 陈力[2] ZENG Chendong;AI Haiping;CHEN Li(College of Energy and Mechanical Engineering,Jiangxi University of Science and Technology,Nanchang 330013,China;College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]江西理工大学能源与机械工程学院,南昌330013 [2]福州大学机械工程及自动化学院,福州350108

出　　处：《中国惯性技术学报》2022年第3期412-420,共9页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(11372073,11072061)。

摘　　要：针对空间机械臂在执行在轨部件替换、在轨燃料加注以及空间站站内任务时所涉及的插拔孔操作控制问题,提出了一种空间机械臂在轨插拔孔操作的超扭曲滑模阻抗控制策略。首先,结合空间机械臂末端部件插头输出插拔孔主动力与孔内摩擦阻力作用关系,利用第二类拉格朗日方程,建立了载体位置、姿态均不受控下,漂浮基空间机械臂在轨插拔孔操作过程系统动力学方程。其次,由空间机械臂末端部件插头位姿及其输出插拔孔主动力之间的动态关系以及阻抗控制原理,建立了阻抗控制模型。最后,针对系统同时存在动力学不确定与外部扰动,将超扭曲算法与滑模控制结合,从而设计了超扭曲滑模阻抗控制策略;并通过李雅普诺夫理论,证明了控制系统的稳定性。该控制策略将滑模控制中的高频切换部分隐藏至滑模变量的高阶导数中,有效抑制普通滑模算法产生的抖振,同时补偿系统的不确定与外部扰动。数值仿真结果表明,部件插头位置精度均优于1 mm,姿态精度均优于0.5°,输出力精度均优于1.5 N,验证了所提出控制策略的有效性。Aiming at the insertion and extraction control problems of space manipulator in performing orbit parts replacement,orbit fuel filling and station tasks,a super twist sliding mode impedance control strategy for orbit insertion and extraction of space manipulator is proposed.Firstly,combined with the relationship between the driving force at the end of the replacement parts,the friction resistance in the holes,the dynamic equation of the system is derived by the second Lagrange equation when the pose of the carrier are not controlled.Secondly,a impedance control model is established based on the dynamic relationship between the pose,the driving force and the impedance control principle.Finally,aiming at the uncertainty of dynamics and the external disturbance,a super twist sliding mode impedance control strategy is designed,and the stability of the control system is proved through Lyapunov theory.The high frequency switching part of sliding mode control is hidden in the higher order derivatives of the sliding mode variables,which can effectively suppress the chattering caused by common sliding mode algorithm,and compensate the uncertainty and external disturbance of the system.The numerical simulation results show that,the position accuracy of the end of the replacement parts is better than 1 mm,the attitude accuracy is better than 0.5°,and the output force accuracy is better than 1.5 N,which verifies the effectiveness of the proposed control strategy.

关 键 词：空间机械臂 在轨 插拔孔操作 超扭曲算法 阻抗控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]