CN107450317A - A kind of space manipulator self-adapting power control method for coordinating - Google Patents
A kind of space manipulator self-adapting power control method for coordinating Download PDFInfo
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The present invention relates to a kind of space manipulator self-adapting power control method for coordinating, on the basis of Space Manipulator System kinematics, dynamics is analysed in depth, the space manipulator kinematical equation of classics is augmented first, obtains that mechanical arm tail end motion and the space manipulator " extension movement equation " of attitude motion of spacecraft can be described simultaneously.Then, on the basis of excavated space mechanical arm system kinetics equation and conservation of angular momentum equation characteristic is goed deep into, spacecraft reference velocity and joint space reference velocity are defined respectively, and be based on this design space mechanical arm self-adapting power tuning controller.The invention discloses the self-adapting power control method for coordinating between a kind of space manipulator and pedestal spacecraft, mechanical arm tail end track following and the purpose of pedestal spacecraft attitude regulation can be reached simultaneously only by the motion can of control machinery arm in the case where systematic parameter has being uncertain of property.
Description
Technical field
The invention belongs to robot for space maintainable technology on-orbit area of maintenance, is related to space manipulator self-adapting power and coordinates control
Method processed.
Background technology
In-orbit service is generally completed by the pursuit spacecraft (being referred to as Space Manipulator System) equipped with mechanical arm.Area
Not in ground machine arm, the pedestal of Space Manipulator System is not fixed, the appearance of the athletic meeting of mechanical arm to pedestal spacecraft
State interferes.In view of communicating over the ground and Direct to the sun etc. requires, it is often desirable that to pedestal space flight when mechanical arm performs task
Device posture is noiseless, or interference is as far as possible small.Reaction kernel method is a kind of effective control method for coordinating, this method energy
Ensure that angular momentum caused by manipulator motion is zero, so as to which interference will not be produced to the posture of pedestal spacecraft.This method is
A kind of kinematics control method, compared to dynamic control method, the energy expenditure of kinematics control method is larger；Moreover, should
Method also need to Space Manipulator System kinematics and kinetic parameter it is accurately known.However, in space tasks, due to ground
The factors such as face calibrated error, in-orbit fuel consumption, it is difficult to obtain the accurate parameters of Space Manipulator System.Therefore, join in system
In the case of being uncertain of property being present in number, study between mechanical arm and pedestal spacecraft to collaborate mechanics control method very intentional
Justice.
The content of the invention
Present invention solves the technical problem that it is：Overcome the deficiencies in the prior art, there is provided a kind of space manipulator adaptively moves
Mechanics control method for coordinating, solves the Harmonic Control between mechanical arm and pedestal spacecraft in the case of parameter is uncertain of.
The technical scheme is that：A kind of space manipulator self-adapting power control method for coordinating, step are as follows：
1) the extension movement model of space manipulator is established；
The conservation of angular momentum equation of space manipulator and kinematical equation simultaneous are obtained explicitly comprising spacecraft motion
The extension movement equation of Free-floating space manipulator, i.e.,
Wherein,For the inertia matrix of spacecraft,The speed for being mechanical arm tail end in inertial space
Degree,To extend Jacobian matrix,For the extension Jacobian matrix corresponding to spacecraft,For the extension Jacobian matrix corresponding to mechanical arm；For the Jacobian matrix corresponding to spacecraft,For the Jacobian matrix corresponding to mechanical arm；For spacecraft and the coupling torque matrix of mechanical arm,For joint of mechanical arm speed, n is mechanical arm free degree number；Angle speed for spacecraft relative to inertial system
Degree, and represent in spacecraft body series；
The extension movement equation of Space Manipulator System is expressed as the form of linear parameterization：
Wherein,For extension movement regression matrix, Z1For regression matrix, Z2Square is returned for kinematics
Battle array,It is referred to as extension movement parameter, ak,1For one group of physical parameter, ak,2Transported for Space Manipulator System
It is dynamic to learn parameter；
2) spacecraft reference angular velocities and joint of mechanical arm reference velocity are determined；
When the extension movement parameter and unknown kinetic parameter of Space Manipulator System, design spacecraft reference angle speed
Spend ωbrMeet equation below：
Wherein, ωbr(0)=ωb(0),For ωbrTo the derivative of time,It is right respectively
It should be Mbb、Mbm、Cbb、CbmEstimation,ForEstimation, by MbbIn parameter ak,1Use ak,1EstimateReplacement obtainsKb,Km,KbsFor positive definite symmetric matrices, sb=ωb-ωbrFor spacecraft sliding variable,For joint of mechanical arm georeferencing speed,ForTo the derivative of time；λbFor a positive number, Δ ∈bvFor spacecraft
Attitude error matrixThe vector section of corresponding error quaternion, Rb,RbdThe respectively current appearance of spacecraft
State matrix is with it is expected attitude matrix；Δ x=x-xdFor mechanical arm tail end position tracking error,It is that mechanical arm tail end is being used to
Pose in property space,For mechanical arm tail end desired trajectory, For mechanical arm tail end pose
Estimation,For mechanical arm tail end desired speed, α is a positive number；
Joint space reference velocity is
Wherein,ForEstimation,ForClassical pseudoinverse,For task
Georeferencing speed；
3) determine that space manipulator self-adapting power coordinates control law and parameter more new law；
Defined variable is as follows
Wherein,For end of arm speed tracking error,Estimate for extension movement parameter
Count error；
In the case of unknown parameters, the kinetics equation of space manipulator is the form of following linear parameterization
Wherein,M is corresponded to respectivelybm、Mmm、Cmb、CmmEstimation,WithFor dynamics regression matrix,For kinetic parameter adEstimate
Meter,For joint of mechanical arm position, ForTo the derivative of time；
In space manipulator kinematics parameters and unknown kinetic parameter, using following adaptive control laws
Wherein,For positive definite symmetric matrices,For joint of mechanical arm space sliding variable；
The estimate of kinetic parameterWith the estimate of extension movement parameterRespectively by given below adaptive
Rule is updated
Wherein,Γd,ΓkFor positive definite symmetric matrices；
4) adaptive control laws and parameter more new law obtained using step 3), realize that spacecraft attitude regulation and end are held
Tracking of the row device to desired trajectory in task space, i.e. as t → ∞, ωb→ 0, Rb→Rbd, Δ x → 0,
The present invention compared with prior art the advantages of be：
(1) compared with existing result, self-adapting power traffic signal coordination disclosed by the invention need not measure spacecraft
Angular acceleration, therefore method has stronger robustness in the present invention；
(2) method disclosed by the invention can realize that mechanical arm is appointed simultaneously only by the motion of suitable control mechanical arm
The tracking of business space desired trajectory and the regulation of pedestal spacecraft attitude, can save fuel on star；
(3) method disclosed by the invention can handle Space Manipulator System parameter and being uncertain of property be present, and join
Being uncertain of property of number is widely present in engineering, therefore method has stronger practicality in the present invention.
Brief description of the drawings
Fig. 1 is three-freedom planar configuration Free-floating space manipulator schematic diagram；
Fig. 2 is pedestal spacecraft angular speed change curve；
Fig. 3 is pedestal spacecraft attitude angle change curve；
Fig. 4 is mechanical arm tail end position tracking error curve；
Fig. 5 is mechanical arm tail end actual path and desired trajectory.
Embodiment
As shown in figure 1, the Free-floating space manipulator system based on three-freedom planar configuration, verifies that present invention institute is public
The self-adapting power traffic signal coordination opened.Mechanical arm uses cascaded structure, can only planar move.Pedestal spacecraft exists
Translation in plane, also can be around the axle rotation perpendicular to plane.The Attitude and orbit control system of pedestal spacecraft is closed.In system
In the case of unknown parameters, by designing joint of mechanical arm control moment and parameter update law, to reach pedestal space flight simultaneously
The purpose of device attitude regulation and mechanical arm tail end track following.
The invention discloses a kind of space manipulator self-adapting power control method for coordinating, step are as follows：
1) the extension movement model of space manipulator is established；
The conservation of angular momentum equation of space manipulator and kinematical equation simultaneous are obtained explicitly comprising spacecraft motion
The extension movement equation of Free-floating space manipulator, i.e.,
Wherein,For the inertia matrix of spacecraft,The speed for being mechanical arm tail end in inertial space
Degree,To extend Jacobian matrix,For the extension Jacobian matrix corresponding to spacecraft,For the extension Jacobian matrix corresponding to mechanical arm；For the Jacobian matrix corresponding to spacecraft,For the Jacobian matrix corresponding to mechanical arm；For spacecraft and the coupling torque matrix of mechanical arm,For joint of mechanical arm speed, n is mechanical arm free degree number；Angle speed for spacecraft relative to inertial system
Degree, and represent in spacecraft body series；
The extension movement equation of Space Manipulator System is expressed as the form of linear parameterization：
Wherein,For extension movement regression matrix, Z1For regression matrix, Z2Square is returned for kinematics
Battle array,It is referred to as extension movement parameter, ak,1For one group of physical parameter, ak,2Transported for Space Manipulator System
It is dynamic to learn parameter；
2) spacecraft reference angular velocities and joint of mechanical arm reference velocity are designed；
When the extension movement parameter and unknown kinetic parameter of Space Manipulator System, design spacecraft reference angle speed
Spend ωbrMeet equation below：
Wherein, ωbr(0)=ωb(0),For ωbrTo the derivative of time,It is right respectively
It should be Mbb、Mbm、Cbb、CbmEstimation,ForEstimation, by MbbIn parameter ak,1With its estimateReplace i.e. availableK=diag ([Kb,Km)], Kb,Km,KbsFor positive definite symmetric matrices, sb=ωb-ωbrFor spacecraft sliding variable,For joint of mechanical arm georeferencing speed,ForTo the derivative of time；λb>0 is a positive number, Δ ∈bvFor space flight
The attitude error matrix of deviceThe vector section of corresponding error quaternion, Rb,RbdRespectively spacecraft is current
Attitude matrix is with it is expected attitude matrix；Δ x=x-xdFor mechanical arm tail end position tracking error,Exist for mechanical arm tail end
Pose in inertial space,For mechanical arm tail end desired trajectory, For mechanical arm tail end pose
Estimation,For mechanical arm tail end desired speed, α>0 is a positive number；
Joint space reference velocity is
Wherein,ForEstimation,ForClassical pseudoinverse,For task
Georeferencing speed；
3) mechanical arm self-adapting power in design space coordinates control law and parameter more new law；
Defined variable is as follows
Wherein,For end of arm speed tracking error,Estimate for extension movement parameter
Count error；
In the case of unknown parameters, the kinetics equation of space manipulator is the form of following linear parameterization
Wherein,M is corresponded to respectivelybm、Mmm、Cmb、CmmEstimation,WithFor dynamics regression matrix,For kinetic parameter adEstimate
Meter,For joint of mechanical arm position, ForTo the derivative of time；
In space manipulator kinematics parameters and unknown kinetic parameter, using following adaptive control laws
Wherein,For positive definite symmetric matrices,For joint of mechanical arm space sliding variable；
The estimate of kinetic parameterWith the estimate of extension movement parameterRespectively by given below adaptive
Rule is updated
Wherein,Γd,ΓkFor positive definite symmetric matrices；
4) adaptive control laws and parameter more new law obtained using step 3), realize that spacecraft attitude regulation and end are held
Tracking of the row device to desired trajectory in task space, i.e. as t → ∞, ωb→ 0, Rb→Rbd, Δ x → 0,
Simulation object involved by the inventive method embodiment is the free floating space of Three Degree Of Freedom planar moved
Mechanical arm.In simulations, spacecraft is needed to adjust to posture it is expected, robot arm end effector is wanted in tracing task space simultaneously
A desired trajectory.Because this space manipulator planar moves, q is only usedbCan describes the posture of spacecraft.Imitative
In very, q is madeb=0.The desired trajectory of robot arm end effector is a circle in inertial space.
Fig. 2 is pedestal spacecraft angular speed curve.As shown in Figure 2, when starting, there is overshoot in spacecraft angular speed, but very
Just decay within 0.05 °/s soon.
Fig. 3 is pedestal spacecraft attitude angular curve.From the figure 3, it may be seen that the change of spacecraft attitude angle is smaller, finally stablize
Within 0.02 °.Fig. 4 is mechanical arm tail end tracking error curve.As shown in Figure 4, mechanical arm tail end tracking error decays rapidly, most
After stablize within 0.01m.
Fig. 5 is the actual path and desired trajectory of mechanical arm tail end.To show that the present invention is carried convergence, imitative
The initial position of robot arm end effector is made to deviate from desired trajectory in very.As seen from Figure 5, increase with the time, mechanical arm end
End actuator converges on rapidly desired trajectory.
Unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (6)
1. a kind of space manipulator self-adapting power control method for coordinating, it is characterised in that step is as follows：
1) the extension movement model of space manipulator is established；
2) spacecraft reference angular velocities and joint of mechanical arm reference velocity are determined；
3) determine that space manipulator self-adapting power coordinates control law and parameter more new law；
4) adaptive control laws and parameter more new law obtained using step 3), spacecraft attitude regulation and end effector are realized
Tracking to desired trajectory in task space.
A kind of 2. space manipulator self-adapting power control method for coordinating according to claim 1, it is characterised in that：Institute
The concrete form for stating the extension movement model for establishing space manipulator is：
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A kind of 3. space manipulator self-adapting power control method for coordinating according to claim 2, it is characterised in that：Institute
State determine spacecraft reference angular velocities detailed process be：
When the extension movement parameter and unknown kinetic parameter of Space Manipulator System, spacecraft reference angular velocities are determined
ωbrMeet equation below：
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A kind of 4. space manipulator self-adapting power control method for coordinating according to claim 3, it is characterised in that：Institute
State determine joint of mechanical arm reference velocity formula be：
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A kind of 5. space manipulator self-adapting power control method for coordinating according to claim 4, it is characterised in that：Step
Suddenly the detailed process of (3) is：
Defined variable is as follows
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In the case of unknown parameters, the kinetics equation of space manipulator is the form of following linear parameterization
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<mi>r</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mover>
<mi>M</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>m</mi>
<mi>m</mi>
</mrow>
</msub>
<msub>
<mover>
<mi>q</mi>
<mo>&CenterDot;&CenterDot;</mo>
</mover>
<mrow>
<mi>m</mi>
<mi>r</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mover>
<mi>C</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>m</mi>
<mi>b</mi>
</mrow>
</msub>
<msub>
<mi>&omega;</mi>
<mrow>
<mi>b</mi>
<mi>r</mi>
</mrow>
</msub>
<mo>+</mo>
<msub>
<mover>
<mi>C</mi>
<mo>^</mo>
</mover>
<mrow>
<mi>m</mi>
<mi>m</mi>
</mrow>
</msub>
<msub>
<mover>
<mi>q</mi>
<mo>&CenterDot;</mo>
</mover>
<mrow>
<mi>m</mi>
<mi>r</mi>
</mrow>
</msub>
<mo>=</mo>
<msub>
<mi>Y</mi>
<mi>m</mi>
</msub>
<mrow>
<mo>(</mo>
<msub>
<mi>q</mi>
<mi>m</mi>
</msub>
<mo>,</mo>
<mover>
<mi>q</mi>
<mo>&CenterDot;</mo>
</mover>
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<msub>
<mover>
<mi>q</mi>
<mo>&CenterDot;</mo>
</mover>
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</msub>
<mo>,</mo>
<msub>
<mover>
<mi>q</mi>
<mo>&CenterDot;&CenterDot;</mo>
</mover>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<msub>
<mover>
<mi>a</mi>
<mo>^</mo>
</mover>
<mi>d</mi>
</msub>
</mrow>
Wherein,M is corresponded to respectivelybm、Mmm、Cmb、CmmEstimation,WithFor dynamics regression matrix,For kinetic parameter adEstimate
Meter,For joint of mechanical arm position, ForTo the derivative of time；
In space manipulator kinematics parameters and unknown kinetic parameter, using following adaptive control laws
<mrow>
<msub>
<mi>&tau;</mi>
<mi>m</mi>
</msub>
<mo>=</mo>
<mo>-</mo>
<msubsup>
<mover>
<mi>J</mi>
<mo>^</mo>
</mover>
<mi>m</mi>
<mrow>
<mo>*</mo>
<mi>T</mi>
</mrow>
</msubsup>
<mi>K</mi>
<msubsup>
<mover>
<mi>s</mi>
<mo>^</mo>
</mover>
<mi>x</mi>
<mo>*</mo>
</msubsup>
<mo>-</mo>
<msub>
<mi>K</mi>
<mrow>
<mi>m</mi>
<mi>s</mi>
</mrow>
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<msub>
<mi>s</mi>
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</msub>
<mo>+</mo>
<msub>
<mi>Y</mi>
<mi>m</mi>
</msub>
<mrow>
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<mi>q</mi>
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</mover>
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<msub>
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</msub>
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</mrow>
Wherein,For positive definite symmetric matrices,For joint of mechanical arm space sliding variable；
The estimate of kinetic parameterWith the estimate of extension movement parameterIt is updated respectively by following adaptive law
<mrow>
<msub>
<mover>
<mover>
<mi>a</mi>
<mo>^</mo>
</mover>
<mo>&CenterDot;</mo>
</mover>
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<mi>q</mi>
<mo>&CenterDot;</mo>
</mover>
<mi>r</mi>
</msub>
<mo>,</mo>
<msub>
<mover>
<mi>q</mi>
<mo>&CenterDot;&CenterDot;</mo>
</mover>
<mi>r</mi>
</msub>
<mo>)</mo>
</mrow>
<mi>s</mi>
</mrow>
<mrow>
<msub>
<mover>
<mover>
<mi>a</mi>
<mo>^</mo>
</mover>
<mo>&CenterDot;</mo>
</mover>
<mi>k</mi>
</msub>
<mo>=</mo>
<msub>
<mi>&Gamma;</mi>
<mi>k</mi>
</msub>
<msup>
<mi>Z</mi>
<mi>T</mi>
</msup>
<msubsup>
<mi>s</mi>
<mi>x</mi>
<mo>*</mo>
</msubsup>
</mrow>
Wherein,Γd,ΓkFor positive definite symmetric matrices.
A kind of 6. space manipulator self-adapting power control method for coordinating according to claim 5, it is characterised in that：Institute
State and spacecraft attitude regulation and tracking of the end effector to desired trajectory in task space are realized in step (4), i.e., as t → ∞
When, ωb→ 0, Rb→Rbd, Δ x → 0,
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| CN109591017A (en) * | 2019-01-07 | 2019-04-09 | 西北工业大学 | Robot for space captures the method for planning track after Tum bling Target |
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| CN112975965A (en) * | 2021-02-24 | 2021-06-18 | 深圳市优必选科技股份有限公司 | Decoupling control method and device of humanoid robot and humanoid robot |
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| CN113305831A (en) * | 2021-04-30 | 2021-08-27 | 北京控制工程研究所 | Method and system for designing position observer for space manipulator adaptive coordination control |
| CN113305831B (en) * | 2021-04-30 | 2022-10-11 | 北京控制工程研究所 | Design method and system of position observer for space manipulator adaptive coordination control |
| CN114734441A (en) * | 2022-04-15 | 2022-07-12 | 北京邮电大学 | Method for optimizing motion capability of mechanical arm in failure fault space of joint part |
| CN114734441B (en) * | 2022-04-15 | 2023-11-24 | 北京邮电大学 | Joint part failure fault space mechanical arm movement capacity optimization method |
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