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

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,...

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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 limited capacity of the spaceborne computer and the existence of interference and parameter uncertainty Under the following conditions, the coordinated control problem that the movement of the manipulator can ensure the stability of the attitude of the space robot base at the same time

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