一种柔性空间机械臂关节高精度控制系统
By establishing a multi-parameter dynamic model and state observer for the joints of the flexible space manipulator, the load inertia and stiffness changes are calculated in real time, solving the control instability problem of the flexible space manipulator under inertial nonlinearity and achieving high-precision trajectory tracking.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING RES INST OF PRECISE MECHATRONICS CONTROLS
- Filing Date
- 2023-08-24
- Publication Date
- 2026-07-17
AI Technical Summary
In existing technologies, the flexible joints of space robotic arms experience trajectory tracking errors due to inertial nonlinearity and flexible vibration during control, resulting in system instability and reduced accuracy, making commonly used position control methods unsuitable.
A flexible joint multi-parameter dynamics module, a flexible joint state observation module, a load inertia and joint transmission stiffness real-time calculation module, and a stability control module are adopted. A multi-parameter dynamics model of the joint is established through the state space method. The state observer is used to observe the state of the reducer, which cannot be directly measured, and the load inertia and stiffness changes are calculated in real time to establish a damping and stiffness stability control strategy.
It enables the measurement of the motion state of the flexible transmission components inside the joint under sensorless conditions, and estimates the real-time stiffness and load inertia, thereby improving the high-precision trajectory tracking performance of the joint under time-varying load inertia conditions.
Smart Images
Figure CN117226826B_ABST