【摘要】：相比于傳統(tǒng)的被動緩沖式空間對接,弱撞擊空間對接具有對接過程中接觸力小、允許的初始位姿偏差大等優(yōu)點(diǎn),因此成為國際空間技術(shù)研究的熱點(diǎn)。柔順對接需要在對接過程中實時采集對接接觸力,進(jìn)行信號處理并完成位置命令修正,導(dǎo)致控制系統(tǒng)更加復(fù)雜;同時,由于弱撞擊空間對接機(jī)構(gòu)允許的對接初始條件更加惡劣,所以有必要選擇合適的優(yōu)化目標(biāo)對空間對接機(jī)構(gòu)進(jìn)行優(yōu)化設(shè)計。因此本文對弱撞擊空間對接機(jī)構(gòu)的優(yōu)化設(shè)計方法以及柔順控制策略進(jìn)行了研究,為開展弱撞擊空間對接進(jìn)行理論儲備。首先,為完成弱撞擊空間對接模擬實驗,本文以Stewart平臺作為主動對接平臺,在每個支鏈末端安裝一維力傳感器,用于采集對接過程中的接觸力信息,完成其構(gòu)型設(shè)計,進(jìn)行其正逆運(yùn)動學(xué)分析,其中正運(yùn)動學(xué)采用數(shù)值迭代的方法完成,并完成其雅克比矩陣的推導(dǎo),為后續(xù)的尺度綜合和柔順控制奠定了基礎(chǔ)。為提高對接機(jī)構(gòu)的綜合性能,對基于雅克比矩陣和螺旋理論的并聯(lián)機(jī)構(gòu)的性能評價指標(biāo)進(jìn)行深入的對比分析,選定具有坐標(biāo)系不依賴性和單位統(tǒng)一性優(yōu)點(diǎn)的螺旋理論評價指標(biāo),利用其進(jìn)行結(jié)構(gòu)優(yōu)化,并提出全局傳遞性能指標(biāo)(GTIc)來評價確定工作空間條件下并聯(lián)機(jī)構(gòu)的傳遞性能。采用粒子群算法開展空間對接機(jī)構(gòu)的尺度綜合,為弱撞擊對接機(jī)構(gòu)的研制提供理論指導(dǎo)�；诖�,進(jìn)行對接機(jī)構(gòu)的設(shè)計以及優(yōu)化結(jié)果的驗證。然后,為實現(xiàn)弱撞擊空間對接,降低對接過程中的接觸力,本文在傳統(tǒng)阻抗控制的基礎(chǔ)上,設(shè)計慣量-阻尼控制器,消除由于機(jī)器人末端操作器偏離期望位置而產(chǎn)生的恢復(fù)力,使機(jī)器人表現(xiàn)出對環(huán)境的完全適應(yīng)性。此外,提出期望對接力解算方法,用以判定對接是否完成。并在此基礎(chǔ)上,提出關(guān)節(jié)空間柔順控制策略和笛卡爾空間柔順控制策略來完成對接環(huán)位姿測量不精確條件下的弱撞擊對接,采用MATLAB和ADAMS聯(lián)合仿真方式驗證兩種控制策略的可行性,并對比分析其各自的優(yōu)缺點(diǎn)。最后,設(shè)計3UPS-PS并聯(lián)機(jī)構(gòu)作為被動對接平臺以構(gòu)建對接模擬實驗系統(tǒng),完成其電氣控制系統(tǒng)和軟件控制系統(tǒng)的研制,對主動柔順控制策略進(jìn)行實驗驗證。完善了弱撞擊空間對接實驗流程,攻克力信號濾波、重力補(bǔ)償、主被動對接環(huán)位姿測量等相關(guān)技術(shù),并進(jìn)行弱撞擊空間對接模擬實驗,驗證控制策略的可行性。
[Abstract]:Compared with the traditional passive buffer space docking, the weak impact space docking has the advantages of small contact force in the docking process and large allowable initial position and attitude deviation, so it has become a hot spot in the international space technology research. In the process of docking, the docking contact force is collected in real time, the signal is processed and the position command is corrected, which makes the control system more complicated. At the same time, due to the worse initial conditions allowed by the weak impact space docking mechanism, it is necessary to select a suitable optimization target to optimize the design of the space docking mechanism. In this paper, the optimal design method and compliance control strategy of the weak impact space docking mechanism are studied in order to carry out the theoretical reserve for the weak impact space docking. First of all, in order to complete the simulation experiment of weak impact space docking, this paper takes the Stewart platform as the active docking platform, installs one dimensional force sensor at the end of each branch chain, which is used to collect the contact force information during the docking process and complete the configuration design. The forward and inverse kinematics analysis is carried out, in which the forward kinematics is completed by numerical iterative method, and the derivation of its Jacobian matrix is completed, which lays the foundation for the subsequent scale synthesis and compliance control. In order to improve the comprehensive performance of docking mechanism, the performance evaluation indexes of parallel mechanism based on Jacobian matrix and helical theory are compared and analyzed in depth, and the spiral theory evaluation index which has the advantages of independence of coordinate system and unity of unit is selected. The global transfer performance index (GTIc) is proposed to evaluate the transfer performance of the parallel mechanism under workspace conditions. Particle swarm optimization (PSO) is used to synthesize the scale of space docking mechanism, which provides theoretical guidance for the development of weak impact docking mechanism. Based on this, the design of docking mechanism and the verification of optimization results are carried out. Then, in order to realize the weak impact space docking and reduce the contact force in the docking process, the inertia damping controller is designed on the basis of the traditional impedance control to eliminate the recovery force caused by the robot terminal manipulator deviating from the desired position. The robot shows full adaptability to the environment. In addition, an expected pair of relay solution method is proposed to determine whether docking is complete or not. On this basis, the joint space compliance control strategy and the Cartesian space compliance control strategy are proposed to complete the weak impact docking under the condition of imprecise measurement of the docking ring position and attitude. The feasibility of the two control strategies is verified by MATLAB and ADAMS simulation, and their advantages and disadvantages are compared and analyzed. Finally, the 3UPS-PS parallel mechanism is designed as the passive docking platform to construct the docking simulation experiment system. The electrical control system and the software control system are developed, and the active compliance control strategy is verified experimentally. The experimental flow of weak impact space docking, force signal filtering, gravity compensation, active and passive docking ring position and attitude measurement are improved, and the simulation experiment of weak impact space docking is carried out to verify the feasibility of the control strategy.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：V441;TP242

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本文編號：2420344