中国科技核心期刊

中文核心期刊

CSCD来源期刊

空间控制技术与应用 ›› 2022, Vol. 48 ›› Issue (2): 47-53.doi: 10.3969/j.issn.1674 1579.2022.02.006

• 论文与报告 • 上一篇    下一篇

考虑状态约束的绳系组合体欠驱动控制

  

  1. 西北工业大学航天学院
  • 出版日期:2022-02-26 发布日期:2022-06-13
  • 基金资助:
    载人航天预先研究资助项目(030501)

Under Actuated Control of the Tethered Combination with State Constraints

  • Online:2022-02-26 Published:2022-06-13

摘要: 针对空间绳系机器人抓捕失稳目标后组合体稳定控制问题,提出一种考虑状态约束的欠驱动控制方法.在建立绳系系统动力学模型的基础上,设计辅助函数保证状态约束,基于能量法的控制框架设计欠驱动稳定控制器.从数学上证明了系统状态满足约束、稳定且能收敛到期望值.对设计的控制器进行仿真验证,并与传统分层滑模控制器进行对比.仿真结果表明本文控制方法的优越性,组合体姿态角变化范围更小,收敛时间更短,控制精度更高.

关键词: 空间绳系机器人, 组合体控制, 欠驱动控制, 状态约束

Abstract: An underactuated Control method is proposed for the stabilization control of the postcapture combination with state constraints. First, On the basis of establishing the dynamic model of the tethered system, the auxiliary function is designed to ensure the state constraints, and an underactuated controller is designed based on the energy method. Then, it is mathematically proved that the system state satisfies the constraints and can converge to the expected value. Finally, the designed controller is verified by simulation and compared with the traditional hierarchical sliding mode controller. The simulation results show the superiority of the designed controller with smaller attitude angle change range, less convergence time and higher control accuracy during the control process.

Key words: tethered space robot, control of the combination, underactuated control, state constraints

中图分类号: 

  • V448.2