中国机械工程 ›› 2022, Vol. 33 ›› Issue (24): 2997-3006.DOI: 10.3969/j.issn.1004-132X.2022.24.011

• 智能制造 • 上一篇    下一篇

基于障碍Lyapunov函数的双臂空间机器人捕获卫星柔顺控制

朱安1,2;艾海平1;陈力2   

  1. 1.江西理工大学能源与机械工程学院,南昌,330013
    2.福州大学机械工程及自动化学院,福州,350116
  • 出版日期:2022-12-25 发布日期:2023-01-12
  • 通讯作者: 艾海平(通信作者),男,1992 年生,副教授、博士。研究方向为空间机器人系统动力学与控制。 E-mail:ahpwuhan@163.com。
  • 作者简介:朱安,男,1994 年生,博士研究生。研究方向为空间机器人系统动力学与控制。E-mail:zhu_an24@sina.com。
  • 基金资助:
    国家自然科学基金(51741502);江西省教育厅科学技术研究项目(GJJ200864);江西理工大学博士科研启动基金(205200100l/514)

Compliance Control of Dual-arm Space Robot Capture Satellite Based on Barrier Lyapunov Functions

ZHU An1,2;AI Haiping1;CHEN Li2   

  1. 1.School of Energy and Mechanical Engineering,Jiangxi University of Science and Technology,Nanchang,330013
    2.School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou,350116
  • Online:2022-12-25 Published:2023-01-12

摘要: 空间机器人捕获卫星操作过程中不可避免地会与卫星接触、碰撞,此过程中若未对其关节进行有效的保护,很容易造成捕获操作失败,因此提出在各关节电机与机械臂之间添加一种弹簧阻尼机构,该机构不仅能够实现碰撞冲击能量的吸收及柔性振动的抑制,还能配合设计的柔顺策略实现捕获操作的柔顺化。分别利用含耗散力Lagrange方程与Newton-Euler方程导出了碰撞前的双臂空间机器人与卫星分体系统动力学方程;结合Newton第三定律、捕获点的速度及闭链几何约束获得了捕获完成后的混合体系统动力学方程,且通过动量守恒关系计算了碰撞冲击效应与冲击力;基于障碍Lyapunov函数设计了一种状态约束控制方法,实现了轨迹的高精度跟踪;采用模糊自适应控制器对系统的不确定项进行拟合,解决了系统参数不确定的影响。通过Lyapunov定理证明了系统的稳定性,并利用数值模拟验证了缓冲机构的抗冲击性能及所提柔顺策略的有效性。

关键词: 双臂空间机器人, 捕获操作, 弹簧阻尼机构, 障碍Lyapunov函数, 模糊自适应控制

Abstract: Space robot would inevitably contact and impact with satellites during the capture operations. If the joints were not effectively protected in this process, it was easy to cause the failures of the capture operations. Therefore, a spring-damper device(SDD) between the joint motors and the manipulators was proposed and added, the device might absorb the impact energy and suppressed the flexible vibrations, and might mathch the designed compliance strategy designed to achieve compliance of capture operations. The dynamics model of dual-arm space robot open-loop system and satellite system before capture was established by using Lagrange function based on dissipation theory and Newton-Euler function respectively. Combined with Newtons third law, velocity constraints of capture points, closed-chain geometric constraints, the closed-chain dynamics model of hybrid system after capture was obtained, and the impact effects and impact forces were calculated by utilizing the momentum conservation. Based on the barrier Lyapunov functions, a state constraint control method was designed to realize high-precision tracking of trajectory, the influences of system parameter uncertainty were solved by fuzzy adaptive controller. The stability of the system was proved by Lyapunov theorem, and the impact resistance of the device and the effectiveness of the proposed strategy were verified by numerical simulations.

Key words: dual-arm space robot, capture operation, spring-damper device, barrier Lyapunov function, fuzzy adaptive control

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