本文選題：空間機(jī)器人　切入點(diǎn)：非合作目標(biāo)　出處：《哈爾濱工業(yè)大學(xué)》2017年博士論文　論文類型：學(xué)位論文

【摘要】：利用空間機(jī)器人對(duì)高價(jià)值航天器開展在軌維修維護(hù)是合理使用軌道資源、恢復(fù)故障航天器的功能、提升航天器的經(jīng)濟(jì)效益、降低航天產(chǎn)業(yè)成本、保障空間資產(chǎn)安全的重要手段之一,具有顯著的政治、經(jīng)濟(jì)和社會(huì)意義。空間機(jī)器人接管非合作目標(biāo)后形成復(fù)合體系統(tǒng),由于該系統(tǒng)的非線性、耦合性強(qiáng),而且初始動(dòng)量未知,操作過程基座姿態(tài)約束條件多,給系統(tǒng)的構(gòu)型設(shè)計(jì)、參數(shù)辨識(shí)、軌跡規(guī)劃、基座姿態(tài)穩(wěn)定等帶來一系列挑戰(zhàn)。為了深入理解空間機(jī)器人與目標(biāo)組成的復(fù)合體系統(tǒng)的動(dòng)力學(xué)特性,推導(dǎo)了復(fù)合體系統(tǒng)的動(dòng)力學(xué)方程,并針對(duì)典型運(yùn)動(dòng)軌跡分析了不同質(zhì)量、慣量目標(biāo)與基座之間的耦合情況,基于此提出了空間機(jī)器人系統(tǒng)的控制策略。進(jìn)一步地,分析了單臂及多臂空間機(jī)器人系統(tǒng)的工作空間及可操作度�；诳刹僮鞫戎笜�(biāo),對(duì)采用多臂的空間機(jī)器人系統(tǒng)的構(gòu)型進(jìn)行了優(yōu)化。針對(duì)復(fù)合體系統(tǒng)初始動(dòng)量未知時(shí)非合作目標(biāo)動(dòng)力學(xué)參數(shù)實(shí)時(shí)辨識(shí)過程中基座姿態(tài)擾動(dòng)較大的問題,提出一種基于多約束條件下零反作用空間自適應(yīng)軌跡規(guī)劃的參數(shù)辨識(shí)方法。以多維關(guān)節(jié)角度勢(shì)函數(shù)的梯度為約束,利用空間機(jī)器人的零反作用空間特性,采用帶遺忘因子的最小二乘自適應(yīng)方法在關(guān)節(jié)角度約束的條件下實(shí)現(xiàn)對(duì)基座姿態(tài)較小的擾動(dòng),建立系統(tǒng)動(dòng)量的差分式增量方程,精確辨識(shí)出目標(biāo)的動(dòng)力學(xué)參數(shù)。針對(duì)空間機(jī)器人操作自旋目標(biāo)過程中基座姿態(tài)失穩(wěn)的難題,提出基于自適應(yīng)滑�？刂频幕c機(jī)械臂協(xié)同穩(wěn)定的方法。該方法采用了延時(shí)參數(shù)估計(jì)來降低對(duì)系統(tǒng)動(dòng)力學(xué)精確模型的依賴,設(shè)計(jì)一種增益導(dǎo)數(shù)與滑模變量成比例的自適應(yīng)切換律,實(shí)現(xiàn)了操作目標(biāo)過程中良好的控制性能和較小的顫振效應(yīng)。通過空間機(jī)器人基座和機(jī)械臂的協(xié)調(diào)運(yùn)動(dòng),有效減小了目標(biāo)操控過程中產(chǎn)生的基座姿態(tài)擾動(dòng),實(shí)現(xiàn)了復(fù)合體系統(tǒng)的穩(wěn)定控制。為了對(duì)本文提出的方法進(jìn)行驗(yàn)證和評(píng)估,研制了一套半物理實(shí)驗(yàn)驗(yàn)證系統(tǒng),該系統(tǒng)由空間機(jī)器人的數(shù)學(xué)模型和模塊化可重構(gòu)機(jī)械臂組成,主要思想是將動(dòng)力學(xué)模型與實(shí)物結(jié)合起來�；谠撓到y(tǒng),開展了空間機(jī)器人零反作用空間自適應(yīng)軌跡規(guī)劃的實(shí)驗(yàn),驗(yàn)證了算法的有效性,也說明了空間機(jī)器人半物理仿真實(shí)驗(yàn)系統(tǒng)具備開展實(shí)驗(yàn)驗(yàn)證的能力。該實(shí)驗(yàn)系統(tǒng)具有較好的可擴(kuò)展性,可在后續(xù)的研究中繼續(xù)發(fā)揮作用。從在軌服務(wù)和空間安全的發(fā)展趨勢(shì)來看,空間機(jī)器人接管控制非合作目標(biāo)是未來的研究應(yīng)用熱點(diǎn)。本文的研究成果為空間機(jī)器人技術(shù)的實(shí)用化提供參考。
[Abstract]:Using space robots to maintain and maintain high value spacecraft in orbit is to make rational use of orbital resources, restore the functions of the faulty spacecraft, enhance the economic benefits of the spacecraft, and reduce the cost of the space industry. One of the important means of ensuring the safety of space assets has significant political, economic and social significance.Space robots take over non-cooperative targets and form a complex system because of its nonlinearity, strong coupling, and unknown initial momentum. In order to understand the dynamic characteristics of the complex system composed of space robot and target, there are a series of challenges to the configuration design, parameter identification, trajectory planning and attitude stability of the base during the operation. The dynamic equation of the complex system is derived, and the coupling between the target of inertia and the base is analyzed according to the typical motion trajectory. Based on this, the control strategy of the space robot system is proposed. The workspace and operability of single-arm and multi-arm space robot systems are analyzed. The configuration of a space robot system with a Dobby is optimized. In view of the large disturbance of the base attitude in the real-time identification process of the dynamic parameters of the non-cooperative target when the initial momentum of the complex system is unknown, the structure of the space robot system is optimized. In this paper, a parameter identification method for adaptive trajectory planning in zero-reaction space under multi-constraint condition is proposed. Taking the gradient of multi-dimensional joint angle potential function as constraint, the spatial characteristics of zero-reaction space robot are used. The least square adaptive method with forgetting factor is used to realize the small disturbance to the base attitude under the condition of joint angle constraint, and the differential increment equation of the momentum of the system is established. The dynamic parameters of the target are accurately identified. In view of the difficult problem of the attitude instability of the base during the operation of the spin target by the space robot, A cooperative stabilization method based on adaptive sliding mode control for pedestal and manipulator is proposed, in which delay parameter estimation is used to reduce the dependence on precise dynamic model of the system. An adaptive switching law with gain derivative proportional to sliding mode variables is designed to achieve good control performance and small flutter effect in the process of operation. In order to verify and evaluate the method proposed in this paper, a semi-physical experimental verification system is developed for effectively reducing the base attitude disturbance in the course of target control, and realizing the stability control of the complex system. The system is composed of the mathematical model of space robot and the modular reconfigurable manipulator. The main idea is to combine the dynamic model with the real object. Based on the system, the experiment of space robot zero-reaction space adaptive trajectory planning is carried out. The validity of the algorithm is verified, and the capability of the experimental system of semi-physical simulation of space robot is demonstrated. Could continue to play a role in subsequent research. In view of trends in in-orbit services and space security, The non-cooperative target of space robot take-over control is a hotspot in future research and application. The research results in this paper provide a reference for the practical application of space robot technology.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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