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Robust control method for base attitude of space robot

A space robot and robust control technology, applied in attitude control, aircraft, motor vehicles, etc., can solve problems such as disturbance and uncertainty, and achieve the effect of low complexity and guaranteed performance

Active Publication Date: 2017-12-01
NORTHWESTERN POLYTECHNICAL UNIV +1
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

[0004] In practice, due to parameter uncertainties and additional perturbations, it is very challenging to ensure high-fidelity transient and steady-state tracking performance for base attitude adjustment

Method used

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  • Robust control method for base attitude of space robot
  • Robust control method for base attitude of space robot
  • Robust control method for base attitude of space robot

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Embodiment Construction

[0030] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0031] The invention provides a robust control method for the posture of a space robot base, comprising the following steps:

[0032] Step 1, based on the Lagrangian equation to establish the dynamic equation of the attitude of the base of the space robot; specifically, when the active force of the space robot is non-zero, the dynamic equation of the space robot;

[0033] Step 2, use the reaction force and moment caused by the mechanical arm of the space robot as the active force of the space robot, and set up a robust controller to adjust the attitude of the base of the space robot; specifically include:

[0034] Step 2.1, setting the performance function of the robust controller, the specific process includes: the attitude tracking deviation of the base is e(t)=q-q d , the derivative is Build the extended state ba...

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Abstract

The invention discloses a robust control method for the base attitude of a space robot. The method comprises the steps of establishing a kinetic equation for the base attitude of a space robot based on a lagrange equation; setting a robust controller for adjusting the base attitude of the space robot; and adjusting the stability of the robust controller. The method is conducted based on the preset performance control and the sliding mode control. The robust control method is used for adjusting the base attitude of the space robot. Therefore, the robust control of the base posture adjustment under the dynamic coupling effect is realized.

Description

technical field [0001] The invention belongs to the technical field of space robots; it relates to a method for controlling the attitude of a space robot base, and in particular to a robust control method for the attitude of a space robot base. Background technique [0002] The number and capabilities of robots used in space missions will continue to increase as the need for tasks such as space maintenance, on-orbit assembly, and debris removal continues to increase. The space robot consists of a base and a mechanical arm connected to the base. Due to the free movement of the base, there is a strong dynamic coupling effect between the space manipulator and the base. This coupling effect makes space robots have some special characteristics compared to fixed-base robots. When the manipulator moves, the attitude of the base of the space robot will also be affected. Therefore, it is necessary to study the attitude control technology under the dynamic coupling problem. [000...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 王明明罗建军许若男袁建平朱战霞
Owner NORTHWESTERN POLYTECHNICAL UNIV
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