大型空间柔性组合航天器动力学建模与控制
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摘要
航天器在轨组装制造和在轨服务维护任务中,捕获航天器通过空间机械臂捕获目标航天器后,整个系统构成一个大型空间柔性组合航天器.本文首先建立了综合考虑机械臂关节、臂杆和航天器太阳翼等柔性部件振动影响的组合航天器动力学模型,采用非线性扭簧模型描述柔性关节,采用假设模态法和有限元法描述柔性臂杆和太阳翼,通过动量守恒和拉格朗日方法推导了柔性组合航天器的动力学方程.然后设计了柔性组合航天器轨迹跟踪与振动抑制复合控制系统,采用奇异摄动方法对组合航天器动力学模型进行了降阶分解,在快慢两种不同时间尺度内分别独立设计了控制器.最后通过数值仿真验证了建模和控制方法的有效性.仿真结果表明,本文所建动力学模型精确有效,能够准确反映柔性组合航天器的运动学和动力学特性;复合控制方法能够保证组合航天器在实现机械臂精确轨迹跟踪控制的同时有效抑制柔性部件振动,具有工程实用性.
In the mission of spacecraft on-orbit assembly and service, a large flexible spacecraft combination will be formed by the capturing spacecraft and the target spacecraft after the space manipulator completes the capturing misssion. First, taking comprehensive consideration of vibration influence of all the flexible components as the joints, links and solar arrays, the dynamic model of the spacecraft combination is established. The non-linear torsional spring models are adopted for flexible joints description; the assumed mode method and the finite element method are adopted for the flexible links and solar arrays; and the dynamic equation of the flexible spacecraft combination is established by use of the momentum conservation and the Lagrange equation. In addition, a composite controller of the flexible spacecraft combination is designed for trajectories tracking and vibration suppressing. The dynamic model of the flexible spacecraft combination is decomposed by use of the singular perturbation method and the two sub-controllers are designed seperately in two different time scales. Finally, the numerical simulations are carried out to verify the effectiveness of the modeling and control methods. The results illustrate that the dynamic model is accurate and effective for representing the kinematic and dynamic properties of the flexible spacecraft combination, and the composite control method is able to guarantee the trajectory tracking pricision as well as effective vibration suppression of the flexible components. The dynamic modeling and control method are applicable for engineering practice.
In the mission of spacecraft on-orbit assembly and service, a large flexible spacecraft combination will be formed by the capturing spacecraft and the target spacecraft after the space manipulator completes the capturing misssion. First, taking comprehensive consideration of vibration influence of all the flexible components as the joints, links and solar arrays, the dynamic model of the spacecraft combination is established. The non-linear torsional spring models are adopted for flexible joints description; the assumed mode method and the finite element method are adopted for the flexible links and solar arrays; and the dynamic equation of the flexible spacecraft combination is established by use of the momentum conservation and the Lagrange equation. In addition, a composite controller of the flexible spacecraft combination is designed for trajectories tracking and vibration suppressing. The dynamic model of the flexible spacecraft combination is decomposed by use of the singular perturbation method and the two sub-controllers are designed seperately in two different time scales. Finally, the numerical simulations are carried out to verify the effectiveness of the modeling and control methods. The results illustrate that the dynamic model is accurate and effective for representing the kinematic and dynamic properties of the flexible spacecraft combination, and the composite control method is able to guarantee the trajectory tracking pricision as well as effective vibration suppression of the flexible components. The dynamic modeling and control method are applicable for engineering practice.
引文
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3 Wang X L,Zhou Z C,Qu G J.Angular momentum transfer and vibration suppression planning of spacecraft combination after capturing a target(in Chinese).J Astronaut,2017,38:678-685[王兴龙,周志成,曲广吉.空间机械臂捕获失稳目标的动态轨迹规划方法.宇航学报,2017,38:678-685]
4 Li Y F,Gao Z H,Shen L.Study of vision-based space target capturing strategy for manipulators(in Chinese).Sci Sin Tech,2015,45:31-35[李宇飞,高朝辉,申麟.基于视觉的机械臂空间目标抓取策略研究.中国科学:技术科学,2015,45:31-35]
5 Xu B,Yuan Y.Two performance enhanced control of flexible-link manipulator with system uncertainty and disturbances.Sci China Inf Sci,2017,60:050202
6 Pan B,Sun J,Yu D Y.Modeling,control and simulation of space manipulators with flexible joints(in Chinese).J Syst Simul,2010,22:1826-1831[潘博,孙京,于登云.柔性关节空间机械臂建模、控制与仿真.系统仿真学报,2010,22:1826-1831]
7 Wei Q Q,Wang Y B,Liu Z Q.Effect of parts’stiffness on general stiffness of space manipulator joint(in Chinese).Chin Space Sci Tech,2013,33:76-81[危清清,王耀兵,刘志全.空间机械臂关节零部件对关节总刚度的影响分析.中国空间科学技术,2013,33:76-81]
8 Lee H H.New dynamic modeling of flexible-link robots.J Dyn Sys Meas Control,2005,127:307-309
9 Abe A.Trajectory planning for residual vibration suppression of a two-link rigid-flexible manipulator considering large deformation.Mechanism Machine Theor,2009,44:1627-1639
10 Rong J L,Yang Y T,Li J,et al.Research on modeling and control scheme of space manipulator(in Chinese).J Astronaut,2012,33:1564-1569[荣吉利,杨永泰,李健,等.空间机械臂建模方法与控制策略研究.宇航学报,2012,33:1564-1569]
11 Qu G J.Spacecraft Dynamics Engineering(in Chinese).Beijing:China Science and Technology Press,2000.202-206[曲广吉.航天器动力学工程.北京:中国科学技术出版社,2000.202-206]
12 Meng D,Liu H,Li Y,et al.Vibration suppression of a large flexible spacecraft for on-orbit operation.Sci China Inf Sci,2017,60:050203
13 Xu W,Meng D,Chen Y,et al.Dynamics modeling and analysis of a flexible-base space robot for capturing large flexible spacecraft.Multibody Syst Dyn,2014,32:357-401
14 Zhang W H,Ye X P.Neural network integrated control for free-floating space robot with suddenly changing parameters(in Chinese).Sci Sin Inform,2012,42:1435-1444[张文辉,叶晓平.参数突变自由漂浮空间机器人神经集成控制.中国科学:信息科学,2012,42:1435-1444]
15 Karimi H R,Yazdanpanah M J.A new modeling approach to single-link flexible manipulator using singular perturbation method.Electr Eng,2006,88:375-382
16 Hong Z B,Chen L.Robust control and active vibration control of space flexible manipulator by singular perturbation approach(in Chinese).Eng Mech,2010,27:191-197[洪昭斌,陈力.柔性空间机械臂基于奇异摄动法的鲁棒跟踪控制和柔性振动主动控制.工程力学,2010,27:191-197]
17 Wilson D G,Robinett III R D,Parker G G,et al.Augmented sliding mode control for flexible link manipulators.J Intell Robot Syst,2002,34:415-430
18 Zhang H Y,Wang Q.Optimal Control Theory and Application(in Chinese).Beijing:Higher Education Press,2006.73-81[张洪钺,王青.最优控制理论与应用.北京:高等教育出版社,2006.73-81]
2 Yu D Y,Sun J,Ma X R.Suggestion on development of Chinese space manipulator technology(in Chinese).Spacecraft Eng,2007,16:1-8[于登云,孙京,马兴瑞.空间机械臂技术及发展建议.航天器工程,2007,16:1-8]
3 Wang X L,Zhou Z C,Qu G J.Angular momentum transfer and vibration suppression planning of spacecraft combination after capturing a target(in Chinese).J Astronaut,2017,38:678-685[王兴龙,周志成,曲广吉.空间机械臂捕获失稳目标的动态轨迹规划方法.宇航学报,2017,38:678-685]
4 Li Y F,Gao Z H,Shen L.Study of vision-based space target capturing strategy for manipulators(in Chinese).Sci Sin Tech,2015,45:31-35[李宇飞,高朝辉,申麟.基于视觉的机械臂空间目标抓取策略研究.中国科学:技术科学,2015,45:31-35]
5 Xu B,Yuan Y.Two performance enhanced control of flexible-link manipulator with system uncertainty and disturbances.Sci China Inf Sci,2017,60:050202
6 Pan B,Sun J,Yu D Y.Modeling,control and simulation of space manipulators with flexible joints(in Chinese).J Syst Simul,2010,22:1826-1831[潘博,孙京,于登云.柔性关节空间机械臂建模、控制与仿真.系统仿真学报,2010,22:1826-1831]
7 Wei Q Q,Wang Y B,Liu Z Q.Effect of parts’stiffness on general stiffness of space manipulator joint(in Chinese).Chin Space Sci Tech,2013,33:76-81[危清清,王耀兵,刘志全.空间机械臂关节零部件对关节总刚度的影响分析.中国空间科学技术,2013,33:76-81]
8 Lee H H.New dynamic modeling of flexible-link robots.J Dyn Sys Meas Control,2005,127:307-309
9 Abe A.Trajectory planning for residual vibration suppression of a two-link rigid-flexible manipulator considering large deformation.Mechanism Machine Theor,2009,44:1627-1639
10 Rong J L,Yang Y T,Li J,et al.Research on modeling and control scheme of space manipulator(in Chinese).J Astronaut,2012,33:1564-1569[荣吉利,杨永泰,李健,等.空间机械臂建模方法与控制策略研究.宇航学报,2012,33:1564-1569]
11 Qu G J.Spacecraft Dynamics Engineering(in Chinese).Beijing:China Science and Technology Press,2000.202-206[曲广吉.航天器动力学工程.北京:中国科学技术出版社,2000.202-206]
12 Meng D,Liu H,Li Y,et al.Vibration suppression of a large flexible spacecraft for on-orbit operation.Sci China Inf Sci,2017,60:050203
13 Xu W,Meng D,Chen Y,et al.Dynamics modeling and analysis of a flexible-base space robot for capturing large flexible spacecraft.Multibody Syst Dyn,2014,32:357-401
14 Zhang W H,Ye X P.Neural network integrated control for free-floating space robot with suddenly changing parameters(in Chinese).Sci Sin Inform,2012,42:1435-1444[张文辉,叶晓平.参数突变自由漂浮空间机器人神经集成控制.中国科学:信息科学,2012,42:1435-1444]
15 Karimi H R,Yazdanpanah M J.A new modeling approach to single-link flexible manipulator using singular perturbation method.Electr Eng,2006,88:375-382
16 Hong Z B,Chen L.Robust control and active vibration control of space flexible manipulator by singular perturbation approach(in Chinese).Eng Mech,2010,27:191-197[洪昭斌,陈力.柔性空间机械臂基于奇异摄动法的鲁棒跟踪控制和柔性振动主动控制.工程力学,2010,27:191-197]
17 Wilson D G,Robinett III R D,Parker G G,et al.Augmented sliding mode control for flexible link manipulators.J Intell Robot Syst,2002,34:415-430
18 Zhang H Y,Wang Q.Optimal Control Theory and Application(in Chinese).Beijing:Higher Education Press,2006.73-81[张洪钺,王青.最优控制理论与应用.北京:高等教育出版社,2006.73-81]