星载串联型柔性抓捕机构的多级阻尼镇定控制

褚明1, 2 董正宏3 任珊珊1, 2 贾庆轩1, 2

振动与冲击 ›› 2018, Vol. 37 ›› Issue (5) : 42-49.

PDF(1212 KB)
PDF(1212 KB)
振动与冲击 ›› 2018, Vol. 37 ›› Issue (5) : 42-49.
论文

星载串联型柔性抓捕机构的多级阻尼镇定控制

  • 褚明1, 2  董正宏3  任珊珊1, 2  贾庆轩1, 2
作者信息 +

Multi-stage damping stabilization control for a space-borne series-wound flexible capturing mechanism

  • CHU Ming1, 2  DONG Zhenghong3  REN Shanshan1, 2  JIA Qingxuan1, 2
Author information +
文章历史 +

摘要

利用星载抓捕机构进行航天器对接是实现在轨操作的重要环节,对接引入的碰撞力易引起抓捕机构及漂浮基座的扰动失稳。针对捕获后不稳定系统的镇定控制问题,提出了一种具有多级可控阻尼的串联型柔性抓捕机构广义模型,并利用Kane方法建立了漂浮基座耦合柔性抓捕机构的一体化动力学方程。将全局分散的多级阻尼力模化为微粒群,构建了目标适应度函数,基于微粒群优化算法实现了不稳定系统的多级阻尼优化镇定控制。对某型星载12自由度柔性抓捕机构进行数值仿真,结果表明提出的控制方法能显著改善基座和柔性抓捕机构的动力学响应,保证系统渐近稳定。在研制的二关节四级阻尼柔性抓捕机构原理样机上开展捕获碰撞模拟实验,验证了多级阻尼镇定控制方法的有效性。

Abstract

Using a space-borne tandem arrest mechanism to do spacecraft docking is an important link of on-orbit operations. Impact force induced by docking is easy to cause disturbance and instability of the capture mechanism and the free-floating base. Aiming at the stabilization control problem of an unstable system after capturing, a generalized model for a series –wound flexible capturing mechanism with multi-stage controllable damping was proposed. Furthermore, integrated dynamic equations for the free-floating base-capturing mechanism coupled system were established using Kane approach. The global dispersive multi-stage damping forces were modeled as a particle swarm, and an objective fitness function was constructed. Based on the particle swarm optimization (PSO), a multi-stage damping optimal stabilization control for the unstable system was realized. The numerical simulation results of a certain type of space-borne 12-DOF flexible arrest mechanism showed that the proposed control method can significantly improve dynamic responses of the capturing mechanism and the free-floating base after docking to guarantee the system to be asymptotically stable. Finally, the capturing collision simulation test was conducted on the prototype of a two-joint four-stage damping flexible capturing mechanism. The effectiveness of the multi-stage damping stabilization control method was verified with the test results.

关键词

空间对接 / 抓捕机构 / 多级阻尼 / 微粒群优化

Key words

space docking / capturing mechanism / multi-stage damping / particle swarm optimization (PSO)

引用本文

导出引用
褚明1, 2 董正宏3 任珊珊1, 2 贾庆轩1, 2 . 星载串联型柔性抓捕机构的多级阻尼镇定控制[J]. 振动与冲击, 2018, 37(5): 42-49
CHU Ming1, 2 DONG Zhenghong3 REN Shanshan1, 2 JIA Qingxuan1, 2. Multi-stage damping stabilization control for a space-borne series-wound flexible capturing mechanism[J]. Journal of Vibration and Shock, 2018, 37(5): 42-49

参考文献

 [1] XU W L, YUE S G. Pre-posed configuration of flexible redundant robot manipulators for impact vibration alleviating [J]. IEEE Transactions on Industrial Electronics, 2004, 51(1): 195-200.
 [2] 丛佩超, 孙兆伟. 空间机械臂捕捉空间目标分析[J]. 上海航天, 2009, (4):7-11+16.
 CONG Peichao, SUN Zhaowei. The research of free-floating space manipulator capture object [J]. Aerospace Shanghai, 2009, (4): 7-11+16.
 [3] WEI Cheng, LIU Tianxi, ZHAO Yang. Grasping strategy in space robot capturing floating target [J]. Chinese Journal of Aeronautics, 2010, 23(5): 591-598.
 [4] LIU Shengping, WU Licheng, LU Zhen. Impact dynamics and control of a flexible dual-arm space robot capturing an object [J]. Applied Mathematics and Computation, 2007, 185(2): 1149-1159.
 [5]  DONG Qiuhuang, CHEN Li. Impact dynamics analysis of free-floating space manipulator capturing satellite on orbit and robust adaptive compound control algorithm design for suppressing motion [J]. Applied Mathematics and Mechanics, 2014, 35(4): 413-422.
 [6] 董楸煌, 陈力. 柔性空间机械臂捕获卫星碰撞动力学分析、镇定运动神经网络控制及抑振[J]. 机械工程学报, 2014, 50(9): 34-42.
 DONG Qiuhuang, CHEN Li. The Impact Dynamics Analysis of Flexible Space Manipulator Capturing a Satellite and Neural Network Calming Motion Control and Vibration Suppression [J]. Journal of Mechanical Engineering, 2014, 50(9): 34-42..
 [7]  CHU Ming, Chen Gang, Jia Qingxuan, etc. Simultaneous positioning and non-minimum phase vibration suppression of slewing flexible-link manipulator using only joint actuator [J]. Journal of Vibration and Control,2014,20(10): 1488-1497.
[8]  BIAN Yushu, GAO Zhihui. Impact vibration attenuation for a flexible robotic manipulator through transfer and dissipation of energy[J]. Shock and Vibration, 2013, 20(4): 665–680.
[9] CHU Ming, Zhang Yanheng, Chen Gang, Sun Hanxu. Effects of Joint Controller on Analytical Modal Analysis of Rotational Flexible Manipulator [J]. Chinese Journal of Mechanical Engineering , 2015, 28(3): 460-469.
 [10] BALAMURUGAN L, JANCIRANI J, ELTANTAWIE M A. Generalized magnetorheological (MR) damper model and its application in semi-active control of vehicle suspension system[J]. International Journal of Automotive Technology, 2014, 15(3): 419-427.
[11] NGUYEN H, THAI C, SHARF I. Capture of Spinning Target with Space Manipulator using Magneto Rheological Damper [C]//AIAA Guidance, Navigation, and Control Conference. Toronto, Canada:American Institute of Aeronautics and Astronautics Inc., 2010, 1-12.
[12] 褚明, 董正宏, 孟庆川, 等. 基于十字轴结构的软接触关节[P]. 中国, ZL201410784247.7, 2014.
 CHU Ming, Dong Zhenghong, Meng Qingchuan, et al.. Soft contact joint based on cross axis structure [P]. China, ZL201410784247.7, 2014.
[13] 郭迎庆, 徐赵东, 费树岷, 等. 磁流变智能结构的微粒群优化控制[J]. 振动与冲击, 2011,30 (9): 59-63.
 CONG Peichao, SUN Zhaowei. PSO control used in magnetorheologicaI intelligent structures [J]. Journal of Vibration and Shock, 2011,30 (9): 59-63.

PDF(1212 KB)

313

Accesses

0

Citation

Detail

段落导航
相关文章

/