Space robot active-disturbance-rejection coordination control method based on expansion state observation and compensation

A space robot and coordinated control technology, applied in the direction of program control, general control system, control/regulation system, etc., can solve problems such as limited capacity of spaceborne computer and uncertain parameters

Active Publication Date: 2017-07-28
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In order to overcome the defects in the above-mentioned prior art, the object of the present invention is to provide a space robot based on extended state observation and compensation of the space robot active disturbance rejection coordination control method, to solve the lim

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  • Space robot active-disturbance-rejection coordination control method based on expansion state observation and compensation
  • Space robot active-disturbance-rejection coordination control method based on expansion state observation and compensation
  • Space robot active-disturbance-rejection coordination control method based on expansion state observation and compensation

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Embodiment

[0144] to combine figure 1 , figure 2 , image 3 To illustrate this embodiment, by figure 1 It can be seen that the control law includes three parts, step 1 to step 3: the angular momentum of the manipulator movement is estimated by establishing the space robot mathematical model and the angular momentum expression, and the disturbance torque generated by the manipulator movement is estimated by tracking the differentiator, and then As a compensation control torque; Step 4: Compensate the disturbance torque due to the existence of uncertainty by expanding the state observer; Step 5: Deduce the PID control law by the difference between the expected attitude command and the real-time attitude information.

[0145] pass image 3 It can be seen that the space robot is composed of a three-degree-of-freedom rotating sub-manipulator and a satellite base. The movement of the manipulator will make the space robot base deviate from the roll, pitch and yaw axes. The quality paramete...

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Abstract

The invention discloses a space robot active-disturbance-rejection coordination control method based on expansion state observation and compensation, and belongs to the field of spacecraft attitude control. The method compensates the base disturbance torque through an expansion state observer to realize the coordination control of a space robot through an active-disturbance-rejection control technology. From a dynamics angle of the space robot, no matter a redundancy condition or a non-redundancy condition of a mechanical arm, the coordination control of a star arm can be realized; meanwhile, a base attitude controller of the space robot is singly designed for relieving the operation load of a spaceborne computer; aiming at the condition of existing various disturbance torques (solar radiation pressure, gravity gradient torque and the like) in space, the active-disturbance-rejection coordination control method enables a system to achieve a certain robustness. The control method can satisfy such task demands as keeping of smooth communication to the ground and pointing of a solar sailboard in the working process of the space robot.

Description

technical field [0001] The invention belongs to the field of spacecraft attitude control, and relates to a space robot ADR coordination control method based on disturbance compensation, in particular to a space robot ADR coordination control method based on extended state observation and compensation. Background technique [0002] Space robots play a key role in on-orbit servicing tasks, such as on-orbit maintenance, refueling, and assembly. However, unlike the ground robot with a fixed base, the attitude of the base of the space robot will be affected by the disturbance caused by the movement of the mechanical arm and the contact with the target. In order to meet the tasks of maintaining ground communication and solar panel pointing during the working process of the space robot It is very necessary to maintain the stable coordination control of the base carrier of the space robot while satisfying the movement of the manipulator. Furthermore, due to the strong nonlinearity,...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1628G05B2219/40527
Inventor 袁建平魏锦源朱战霞袁源张博陈诗瑜
Owner NORTHWESTERN POLYTECHNICAL UNIV
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