基于导纳控制的空间精细操作半物理仿真

A Hardware-in-the-Loop Simulation Strategy of Space Fine Manipulation Based on Admittance Control

分析空间机器人精细操作动力学,建立空间漂浮基机器人动力学模型和空间接触碰撞模型.根据动力学模型及碰撞模型,建立了基于导纳原理的包含路径规划器、导纳控制器和运动估计器的空间精细操作半物理仿真控制模型.详细介绍用于验证精细操作控制模型的地面半物理仿真平台的构造和性能.在Simulink和UG软件中针对空间机器人抓捕对接环的典型作业过程进行联合仿真,结果表明,碰撞力被稳定控制在给定区间,验证了基于导纳原理的空间精细操作半物理仿真机理的有效性.

Kinematics and dynamics problems of free-floating space robot are discussed and solved using Newton-Euler method. Rendezvous and docking mechanisms are analyzed theoretically. A control system consisting of a path planner,an admittance controller and a motion predictor,is set up in Simulink diagram. A tested used to verify the control theory is introduced in detail. A test system is developed in a UG and Simulink co-simulation environment. And it turns out the contact force between manipulator and target satellite is stabilized around the given target force limit,which validates the admittance-based control strategy for fine manipulation.