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A Target Acquisition Stabilization Control Method for Space Tethered Robot

A stable control method and technology of space tethering, which are applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of failed capture tasks, difficult capture process, unstable capture process, etc. Short convergence time, high control accuracy and small overshoot

Active Publication Date: 2018-04-03
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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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  • A Target Acquisition Stabilization Control Method for Space Tethered Robot
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  • A Target Acquisition Stabilization Control Method for Space Tethered Robot

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Embodiment Construction

[0030] The present invention is described in further detail below in conjunction with accompanying drawing:

[0031] see figure 1 , the present invention comprises the following steps:

[0032] Step 1: Establish the target capture dynamics equation of the space tethered robot:

[0033]

[0034] in, l is the length of the space tether, α is the interior angle of the space tether surface, β is the exterior 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 the nonlinear velocity related item; G is the gravity related item; Q is the control force and control torque of the space tethered robot; τ is the space tethered interference item.

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

[0036] The expected pose correction of the space tethered robot satisfies the following relationship:

[0037]

[0038] Among them, i is the contact and c...

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Abstract

The invention discloses a method for stabilizing the target capture of a space tether robot, comprising the following steps: 1) establishing a dynamic equation for the target capture of the space tether robot; 2) calculating the correction amount e of the desired pose of the space tether robot ; 3) Estimate the uncertainty of the system model of the space tethered robot; 4) Calculate the stability control force and control torque Q of the space tethered robot. The invention adopts the impedance control method, which can reduce the influence brought by the collision force in the capture process. Estimating the uncertainty of the space tethered robot model through the neural network can effectively compensate the influence of the uncertainty, and the overshoot in the control process is smaller, the convergence time is shorter, and the control accuracy is higher.

Description

【Technical field】 [0001] The invention belongs to the research field of spacecraft control technology, and in particular relates to a method for stabilizing target capture of a space tether robot. 【Background technique】 [0002] Due to its flexibility, safety, and low fuel consumption, space tethered robots have a wide range of roles in space on-orbit services, and can perform operations such as rescue of failed 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 capture stabilization, and target capture operation. Among them, target capture stabilization control is one of the main research stages of the space tether robot. one. When the space tethered robot approaches the target capture position, it needs to close the operating claws to capture the target, which is one of the core tasks of the space tethered ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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