空间机器人动力学参数在轨辨识方法

On-Orbit Identification Algorithm of Dynamics Parameters for Space Robots

针对机器人动力学参数识别问题,提出了基于有限遥测信息的空间机器人动力学参数在轨辨识方法。首先深入分析了各动力学参数对系统角动量的影响程度,并进行了参数重组,然后依据空间机器人系统的角动量守恒原理,推导了动力学参数与系统角动量之间的映射关系,最后,利用Gauss-Seidel迭代方法获得辨识结果。仿真表明,该方法能够快速地辨识出相关的动力学参数,方法利用遥测获得的飞行数据不需要额外的测量设备或者操作程序,为空间机器人动力学参数在轨实时辨识提供了理论方法。

This paper presents an on - orbit identification approach of dynamics parameters of space robots based on the limited flight telemetry data. Firstly, according to the sensitivity to the angular momentum, this approach regroups the dynamics parameters. Secondly, this approach deduces the mapping mechanism between angular momentum and dynamics parameters by making use of conservation of angular momentum. Finally, the Gauss - Seidel method is used to obtain the identified values of the parameters. The results of the simulation verify that this approach can quickly and accurately identify the dynamics parameters and ensure some controling is achieved. This approach enables dynamics parameters identification by using the flight telemetry data and without special measurement apparatus or operation procedure. As a further research, the approach is a potential algorithm to be extended to a real - time one.