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Space tether robot target capture stable control method

A stable control method and technology of space tethering, applied in the directions of adaptive control, general control system, control/regulation system, etc., can solve the problems of unstable capture process, failure of capture tasks, difficulty in capture process, etc. The effect of small overshoot, short convergence time and high control accuracy

Active Publication Date: 2015-12-23
NORTHWESTERN POLYTECHNICAL UNIV
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AI Technical Summary

Problems solved by technology

During the target capture process, due to factors such as the closing speed of the manipulator's claws, the relative linear velocity and relative angular velocity with the target, the entire capture process may become unstable due to collisions, and even cause the target to be captured to go out of operation. The claw captures the envelope, causing the capture task to fail
In addition, due to the possible spin of the target to be captured, the entire capture process will be more difficult

Method used

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  • Space tether robot target capture stable control method
  • Space tether robot target capture stable control method
  • Space tether robot target capture stable control method

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Embodiment Construction

[0030] The present invention will be described in further detail below in conjunction with the accompanying drawings:

[0031] See figure 1 , The present invention includes the following steps:

[0032] The first step: Establish the dynamic equation of the space tethered robot target capture:

[0033] M ξ ·· + N ξ · + G = Q + τ

[0034] among them, l is the length of the space tether, α is the internal angle of the space tether surface, β is the external angle of the space tether surface, θ and ψ are the attitude angles of the space tethered robot; M is the system inertia matrix; N is a non-linear velocity related item; G is a gravity related item; Q is the control force and control moment of the space tethered robot; τ is the space tether interference term.

[0035] Step 2: Calculate the correction amount e of the desired pose of the space tethered robot

[0036] The correction amount of the desired pose of the space tethered robot satisfies the fol...

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Abstract

The invention discloses a space tether robot target capture stable control method which comprises the following steps: 1) establishing a space tether robot target capture kinetic equation; 2) calculating correction amount e of expected pose of a space tether robot; 3) estimating uncertainty of a system model of the space tether robot; and 4) calculating stable control force and control moment Q of the space tether robot. The impedance control method is adopted in the invention, so that influence due to impact force in the capture process can be reduced. The uncertainty of the space tether robot model is estimated through a neural network, so that compensation control can be carried out on influence due to uncertainty effectively; overshoot is small in the control process; convergence time is shorter; and control precision is higher.

Description

【Technical Field】 [0001] The invention belongs to the research field of spacecraft control technology, and specifically relates to a method for stabilizing target capture of a space tethered robot. 【Background technique】 [0002] Because of its flexibility, safety, and low fuel consumption, space tethered robots have a wide range of functions in space on-orbit services, and can perform operations such as rescue of invalid satellites, space junk cleaning, and auxiliary orbit changes. [0003] According to the task flow of the space tethered robot, it can be divided into five stages: release, approaching the target, target capture, target stabilization after capture, and target capture operation. Among them, target capture stability control is one of the main researches of space tethered robots. One. The space tethered robot approaches to the vicinity of the target capture position and needs to close the operating claws to capture the target, which is one of the core tasks of the sp...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 黄攀峰胡永新孟中杰王东科刘正雄
Owner NORTHWESTERN POLYTECHNICAL UNIV
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