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基于前馈—反馈原理的空间机器人在轨组装空间桁架反步阻抗控制
Backstepping Impedance Control of Space Truss Assembled In-orbit by Space Robot Based on Feedforward and Feedback Principle
投稿时间:2024-02-27  修订日期:2024-03-27
DOI:
中文关键词:  空间机器人  空间桁架  在轨插、拔孔  阻抗控制  反步法
英文关键词:space robot  space truss  on-orbit insertion and extraction  impedance control  backstepping
基金项目:国家自然科学(51775114);福建省工业机器人基础部件技术重大研发平台(2021HZ024006)资助项目;福建省机器人基础部件与系统集成创新中心专项资金项目(2021-C-275).
作者单位邮编
刘东博 福州大学机械工程及自动化学院 350108
陈力* 福州大学机械工程及自动化学院 350108
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中文摘要:
      研究了空间机器人在轨组装空间桁架的插、拔孔阻抗控制问题。为同步实现该操作过程所需的高精度力/位控制,首先,建立了载体姿态受控、位置不受控的空间机器人动力学模型;基于阻抗控制原理,根据机械臂末端力/位之间的动态关系建立了二阶阻抗模型。然后,结合前馈—反馈原理,提出了一种由类稳态控制、前馈控制和误差反馈控制三部分组成的反步法阻抗控制策略。该控制策略对系统建模不确定项补偿效果良好,具有结构可靠、鲁棒性强、控制精度高的特点。最后,利用Lyapunov原理证明了系统的一致渐近稳定性。仿真结果表明,其位置控制精度优于1mm,姿态控制精度优于0.01rad,末端输出力跟踪精度优于0.5N,满足空间机器人在轨组装空间桁架的控制需求。
英文摘要:
      The impedance control of space trusses assembled by space robots in orbit is studied. In order to achieve the high precision force/position control required by the operation process, firstly, a dynamic model of space robot with carrier attitude controlled and position not controlled is established. Based on the impedance control principle, a second-order impedance model is established according to the dynamic relationship between the force/position at the end of the manipulator. Then, according to the feedforward feedback principle, a backstepping impedance control strategy composed of steady-state control, feedforward control and error feedback control is proposed. This control strategy can compensate the uncertainty of system modeling effectively, and has the characteristics of reliable structure, strong robustness and high control precision. Finally, Lyapunov"s principle is used to prove that the system is uniformly asymptotically stable. The simulation results show that the position control accuracy is better than 1mm, the attitude control accuracy is better than 0.01rad, and the end output force tracking accuracy is better than 0.5N, which meets the control requirements of the space robot assembly space truss in orbit.
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