Exponential impedance control based on force/pose tracking for orbit insertion and extraction operation by space manipulator
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摘要: 討論了空間機械臂在軌插、拔孔操作的阻抗控制問題。為此，結合系統動量守恒關系，空間機械臂替換部件末端輸出插、拔孔主動力與孔內所受摩擦阻力作用關系，以及第二類拉格朗日方程，推導得到了載體位置、姿態均不受控制情況下，空間機械臂在軌插、拔孔操作過程系統動力學方程。同時，根據相關操作控制系統設計需要，利用系統位置幾何關系分析、建立了空間機械臂替換部件末端相對基聯坐標系的相對運動雅可比關系。之后，由空間機械臂替換部件末端位姿與末端輸出插、拔孔主動力之間的動態關系并結合阻抗控制原理，建立了二階線性阻抗模型。在上述工作基礎上，針對空間機械臂在軌插、拔孔操作過程同時存在運動學與動力學不確定性的情況，設計了空間機械臂替換部件末端力/位姿跟蹤指數型阻抗控制策略；并通過李雅普諾夫理論，證明了控制系統的穩定性。提到的控制策略具有結構簡單、收斂速度快、穩定性好的特點。系統數值仿真，驗證了上述控制策略的有效性。Abstract: With the developments in space technology and exploration, the space manipulator has become a better choice than astronauts for performing long-time and high-precision operation tasks, such as orbit assembly, orbit maintenance, and orbit refueling. In carrying out the above orbit service tasks, the space manipulator must perform insertion and extraction operations. By considering the impedance control, a dynamic relationship can be established between the pose and output force during insertion and extraction tasks. In this paper, the impedance control problems associated with the insertion and extraction operation of the space manipulator were discussed. By combining the conservation of the momentum of the system, relationship between the driving forces of insertion and extraction at the end of the replacement parts, friction resistance in the holes, and second Lagrange equation, we derived dynamic equations for the space manipulator during the orbit insertion and extraction operation when the position and attitude of the carrier were not controlled. In addition, based on the design requirements of the related operation and control systems, we established the Jacobian relation of the relative motion between the end of the replacement parts and the basic coordinate system by performing a geometric relation analysis of the system position. Then, we established a second-order linear impedance control model based on the dynamic relationship between the pose and driving force of the end of the replacement parts and the impedance control principle. Based on the above work, to address the uncertainty of the kinematics and dynamics of the orbit insertion and extraction operation, performed by the space manipulator, we designed an exponential impedance control strategy on the basis of force/pose tracking, and confirmed the stability of the control system based on the Lyapunov theory. The proposed control strategy has a simple structure, fast convergence speed, and good stability. As such, it is suitable for situations with limited computing and storage capacities, such as the space station computer. The numerical simulation results of this system verify the effectiveness of the proposed control strategy.
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圖 1 空間機械臂在軌插、拔孔操作模型
Figure 1. Model of space manipulator orbit insertion and extraction operation
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