含弹簧阻尼装置空间机器人捕获卫星分数阶超扭滑模缓冲柔顺控制  

Fractional-order Super-twisting Sliding Mode Compliance Control for Space Robot with Spring Damping Device to Capture Satellite

作　　者：朱安 陈力[1] ZHU An;CHEN Li(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350116,China)

机构地区：[1]福州大学机械工程及自动化学院,福州350116

出　　处：《载人航天》2022年第6期720-725,共6页Manned Spaceflight

基　　金：国家自然科学基金(51741502);福建省工业机器人基础部件技术重大研发平台资助项目(2014H21010011)。

摘　　要：针对双臂空间机器人捕获非合作卫星的关节保护问题,在关节电机与机械臂之间加入一种弹簧阻尼装置(SDD),实现了碰撞冲击能量的缓冲、卸载;通过三阶观测器对系统的速度和加速度进行重构,解决了关节受空间限制未能安装速度、加速度传感器导致速度、加速度无法测量的问题;提出了一种匹配SDD的分数阶超扭滑模柔顺控制策略,实现了捕获后的闭链混合体系统的镇定控制,并通过Lyapunov定理证明了系统的稳定性。数值仿真结果表明:SDD可将碰撞冲击载荷减小52.25%,柔顺策略可有效限制关节瞬时冲击力矩。To solve the joint protection problem of dual-arm space robot capturing non-cooperative satellite,a Spring Damper Device(SDD)was added between the joint motor and the manipulator to buffer and consume the impact energy.The velocity and acceleration of the system were reestablished through a third-order observer,because the velocity and acceleration sensors could not be installed on the joints due to space constraints,and the velocity and acceleration could not be measured.An adaptive fractional-order super-twisting sliding mode compliance strategy matching with SDD was proposed to realize the calm control of the closed-chain hybrid system after capture.The stability of the system was proved by Lyapunov theorem.The numerical simulation results showed that SDD could reduce the impact force by 52.25%,and the compliance strategy could effectively limit the instantaneous impact torque of joints.

关 键 词：双臂空间机器人 捕获操作 弹簧阻尼装置 分数阶超扭滑模控制 柔顺策略 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]