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Stability control method and system aiming at space non-cooperative target capturing

A stable control method, non-cooperative target technology, applied in attitude control, sustainable transportation and other directions, can solve the problems of poor controllability of control mode switching process, very sensitive environmental parameter changes, increased system oscillation, etc., to improve the rapid stability capability and position tracking accuracy, reducing sensitivity, and mitigating the effects of collision impact

Active Publication Date: 2019-12-24
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the controllability of the control mode switching process is poor, and it is very sensitive to changes in environmental parameters.
All in all, the existing technology is purely variable stiffness or variable damping control, which has obvious limitations, ignoring the influence of the coupling relationship of damping-stiffness parameters on the system response, and the sharp change of stiffness parameters and the irrationality of small impedance parameters design will increase the risk of oscillation and damage to the system

Method used

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  • Stability control method and system aiming at space non-cooperative target capturing
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  • Stability control method and system aiming at space non-cooperative target capturing

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0050] A stable control method for capturing non-cooperative targets in space, such as figure 1 shown, including the following steps:

[0051] S1. Establish a dynamic collision model for non-cooperative targets.

[0052] The dynamic collision model for non-cooperative targets is:

[0053]

[0054] In the formula, F ext is the interaction force generated by the collision between the manipulator and the target, D ext and K ext are the damping coefficient of the collision environment and the stiffness coefficient of the collision environment, x t is the actual position of the gripper captured by the manipulator, x target , v target 、a target are the position, velocity and acceleration of the captured target respectively, M target is the mass of the capture target.

[0055] S2. Based on the dynamic collision model of the non-cooperative target described in S1, determine the interaction force generated by the collision between the manipulator and the target; establish an ...

Embodiment 2

[0066] A stable control system for capturing non-cooperative targets in space, characterized in that it includes a dynamic collision module and an adaptive impedance control module;

[0067] The dynamic collision module is used to establish a dynamic collision model of the non-cooperative target, and then output the dynamic collision model of the non-cooperative target to the adaptive impedance control module.

[0068] The dynamic collision model for non-cooperative targets is:

[0069]

[0070] In the formula, F ext is the interaction force generated by the collision between the manipulator and the target, D ext and K ext are the damping coefficient of the collision environment and the stiffness coefficient of the collision environment, x t is the actual position of the gripper captured by the manipulator, x target , v target 、a target are the position, velocity and acceleration of the captured target respectively, M target is the mass of the capture target.

[007...

Embodiment 3

[0082] The capture process flow of this embodiment is as follows figure 2 shown.

[0083] (a) Adaptive impedance controller design

[0084] (a.1) Establish a dynamic collision model for non-cooperative targets

[0085] When a floating non-cooperative target collides with the robotic arm, the capture claws quickly close to capture the target. Therefore, it is first necessary to establish a dynamic collision model of non-cooperative targets to more truly reflect the position constraints and dynamic interactions between the manipulator and the target during the capture process, as shown in formula (1).

[0086]

[0087] Among them, M target is the mass of the capture target, x target , v target , a target are the position, velocity and acceleration of the capture target, respectively. The collision environment is equivalent to a spring-damper system, F ext is the interaction force generated by the collision between the manipulator and the target, D ext and K ext are...

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Abstract

The invention discloses a stability control method and system aiming at space non-cooperative target capturing. The method comprises the following steps: S1, establishing a dynamic collision model ofa non-cooperative target; and S2, determining interaction force produced by the collision of a mechanical arm and the target based on the dynamic collision model of the non-cooperative target in the step S1; establishing a self-adaptive impedance control model, and serving the interaction force as input quantity of the self-adaptive impedance control model, and then acquiring correction quantity of a mechanical arm location. Through the method disclosed by the invention, the system instability problem caused by the low-rigidity parameter under large collision impact is solved, a rigidity and dampness online adjusting mechanism is designed by considering a coupling relation of the rigidity and a damping parameter, the stability of the system in the low rigidity is improved, and the responsespeed of the system in high rigidity is improved.

Description

technical field [0001] The invention relates to a stable control method and system for capturing non-cooperative targets in space, and belongs to the technical field of compliant control of space manipulators. Background technique [0002] For space non-cooperative target capture tasks such as failed target spacecraft and space junk, the space manipulator has the characteristics of dynamic and diverse operating targets and complex interaction processes. Therefore, for capturing targets with different physical and motion characteristics, the manipulator should not only have fast stabilization ability to ensure the high tracking accuracy of the end trajectory, but also need to have active and compliant control ability to avoid the impact of the capture instantaneous impact on the manipulator and satellite body. Excessive attitude disturbance ensures a friendly and safe interaction process between the manipulator, the operating target and the interactive environment. [0003] ...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCY02T90/00
Inventor 刘维惠刘磊文闻李晓辉赵靖超于春旭周晓东刘露咪吕振华张强吴纾婕周元子张猛
Owner BEIJING INST OF CONTROL ENG
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