基于触力感知的空间非合作目标惯量参数辨识方法研究

Contact-Force Measurement Based Inertial Parameter Identification Method for a Space Non-Cooperative Target

因空间机械臂系统内部存在较强的动力学与运动学耦合关系,为防止捕获操作对系统的姿态和轨迹产生影响,需对捕获的空间非合作目标的惯量参数进行精确辨识,针对传统的辨识研究仅考虑辨识的基本原理,忽略了实际辨识过程中存在的辨识误差等重要问题,提出了一种新颖的基于触力信息的空间非合作目标惯量参数完整辨识方法。先对辨识过程中存在的各种误差及其对辨识结果影响进行了理论推导,在此基础上提出了一种包含末端触力信息及末端执行器力、力矩信息的改进辨识方程,削弱辨识过程中误差的累积效应及其对辨识结果的影响。此外,考虑量测误差中包含复杂的噪声信息,提出了递推最小二乘法-仿射投影符号算法(RLS-APSA)混合算法,并基于此算法解算辨识方程,以确保辨识结果的稳定性。为验证所提辨识方法的有效性,构造了多自由度空间机械臂系统模型,用Adams-Matlab联合仿真平台进行相应的仿真实验,实验结果证实了所提辨识方法的有效性。

A novel contact-force information based inertial parameter identi fi cati on method for a space non-cooperative target was presented because of strong dynamic and kinematic coupling existing in space robot system, while the inertial parameter identification of the space non-cooperative target was essential for the ideal control strategy based on changes in the attitude and trajectory of the space robot via capturing operations and conventional studies would merely refer to the principle and theory of identification, and ignore identification error in practical identification process. To solve this issue, all kinds of errors in identification and the effect of these errors on identification results were firstly illustrated？ and a modified identification equation incorporating end contact-force information, as well as force and torque information of end-effector, were proposed to weaken the accumulation of errors and the effect of errors on identification results. Furthermore？ considering complex noise information in measurement error, a hybrid immune algorithm, recursive least squares and affine projection sign algorithm （RLS- APSA） ,was employed to decode the modi fied identi fication equation to ensure a stable identi fication property. To verify the validity of the proposed identification method？ the co-simulation of Adams-Matlab was implemented byspace robot system models with multi-degree of freedom. The numerical results show the proposed method is effective.