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Adaptive dynamics coordination control method of space manipulator

A space manipulator, adaptive control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc.

Inactive Publication Date: 2017-12-08
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, to provide a space manipulator adaptive dynamics coordination control method, which solves the problem of coordination control between the manipulator and the base spacecraft under the condition of uncertain parameters

Method used

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  • Adaptive dynamics coordination control method of space manipulator

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Embodiment Construction

[0044] Such as figure 1 As shown, the free-floating space manipulator system based on the three-degree-of-freedom planar configuration verifies the adaptive dynamics coordination control algorithm disclosed in the present invention. The mechanical arm adopts a series structure and can only move in a plane. The base spacecraft can move in translation in the plane, and can also rotate around the axis perpendicular to the plane. The attitude and orbit control system of the pedestal spacecraft is turned off. When the system parameters are unknown, the control torque of the manipulator joints and the parameter adaptive law are designed to simultaneously achieve the purpose of attitude adjustment of the base spacecraft and trajectory tracking of the end of the manipulator.

[0045] The invention discloses a space manipulator adaptive dynamics coordination control method, the steps are as follows:

[0046] 1) Establish the extended kinematics model of the space manipulator;

[0047...

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Abstract

The present invention relates to an adaptive dynamics coordination control method of a space manipulator. On the basis of deep analysis of space manipulator system kinematics and dynamics characteristics, a typical space manipulator kinematical equation is subjected to augmenting, and a space manipulator 'extended kinematics equation' capable of description of the tail end motion of the space manipulator and the attitude motion of a spacecraft is obtained; and on the basis of deep excavation of the space manipulator system kinetic equation and angular momentum conservation equation characteristics, a spacecraft reference speed and a joint space reference speed are respectively defined, and a space manipulator adaptive dynamics coordination controller is designed on this basis. The adaptive dynamics coordination control method between the space manipulator and a pedestal spacecraft can control the motion of the space manipulator to reach the purpose of space manipulator tail end locus tracking and pedestal spacecraft attitude regulation at the same time in the condition that system parameters have nondeterminacy.

Description

technical field [0001] The invention belongs to the field of on-orbit maintenance of space robots, and relates to a space manipulator adaptive dynamics coordination control method. Background technique [0002] On-orbit servicing is typically performed by tracking spacecraft equipped with robotic arms, known as space manipulator systems. Different from the ground manipulator, the base of the space manipulator system is not fixed, and the movement of the manipulator will interfere with the attitude of the base spacecraft. Considering the requirements of ground-to-ground communication and sun-orientation, it is usually hoped that the robotic arm will not interfere with the attitude of the base spacecraft when performing tasks, or the interference should be as small as possible. The reaction null space method is an effective coordinated control method, which can ensure that the angular momentum generated by the movement of the manipulator is zero, so that it will not interfere...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 徐拴锋王汉磊魏春岭胡勇张军
Owner BEIJING INST OF CONTROL ENG
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