配置弹簧阻尼空间机器人基于灰狼优化算法的双臂捕获卫星操作缓冲柔顺控制
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福州大学机械工程及自动化学院

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中图分类号:

TP242

基金项目:

国家自然科学基金资助项目(51741502); 福建省自然科学基金资助项目(2020J01450).


Based on Grey Wolf Optimizer Buffer and Compliance Control of Dual-Arm Space Robot Capture Satellite Operation with Spring-Damper Device
Author:
Affiliation:

College of Mechanical Engineering and Automation, Fuzhou University

Fund Project:

The National Natural Science Foundation of China (No. 51741502), the Natural Science Foundation of Fujian Province (No. 2020J01450)

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    摘要:

    空间机器人在捕获卫星操作过程中会发生剧烈的碰撞,若不对其脆弱的关节进行保护,则可能造成空间机器人的损坏.为此在空间机器人关节电机与机械臂之间加入一种弹簧阻尼机构,该机构不仅可以在碰撞过程中缓冲、吸收冲击能量,而且还可设计与之配合的柔顺策略实现混合体系统的镇定控制.首先,针对捕获前的双臂空间机器人开环系统与目标卫星系统,分别利用Lagrange法与Newton-Euler法建立了分体系统动力学模型;结合动量定理、速度约束、闭链几何约束及牛顿第三定律,导出了捕获后的闭链混合体系统动力学模型,并计算了冲击效应与碰撞力.然后,针对混合体系统的控制问题,提出了一种配合缓冲机构的积分终端滑模控制方案,通过灰狼优化算法对滑模控制器的参数进行优化,增加其对混合体系统的镇定控制速度与稳定性.最后,利用Lyapunov定理证明了系统的稳定性,通过数值仿真验证了缓冲机构的抗冲击性能与柔顺策略的有效性.

    Abstract:

    The space robot will violent collision with satellite in the capture operation. If its fragile joints are not protected, the space robot may be damaged. Therefore, a spring-damper device is added between a joint motor and a manipulator, which can not only digest and absorb the impact energy in the collision process, but also design a compliance strategy matched with the buffer device to realize the calm control of the hybrid system. first, the dynamic modes of dual-arm space robot open-loop system and target satellite system before capturing are established by the Lagrange function. Combined with momentum theorem, velocity constraints, closed-chain geometric constraints and Newton"s third law, the closed-chain dynamic model of hybrid system after capture is obtained, and impact effect and impact force are calculated. After that, in order to control the hybrid system, an integral terminal sliding mode control matched with the buffer device is proposed. The parameters of sliding mode controler are optimized by grey wolf optimizer to reached fast and stable control of the hybrid system. Finally, The stability of the hybrid system is proved by Lyapunov theorem, and the anti-impact performance of the spring-damper device and the effectiveness of compliance strategy are proved by numerical simulation.

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  • 收稿日期:2021-04-06
  • 最后修改日期:2021-07-25
  • 录用日期:2021-07-30
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