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史玲玲, 肖晓龙, 张晓峰, 范立佳, 单明贺, 田强. 空间机器人在轨组装多模块单元的对接力控制与地面实验. 力学学报, 2024, 56(3): 1-17. DOI: 10.6052/0459-1879-23-458
引用本文: 史玲玲, 肖晓龙, 张晓峰, 范立佳, 单明贺, 田强. 空间机器人在轨组装多模块单元的对接力控制与地面实验. 力学学报, 2024, 56(3): 1-17. DOI: 10.6052/0459-1879-23-458
Shi Lingling, Xiao Xiaolong, Zhang Xiaofeng, Fan Lijia, Shan Minghe, Tian Qiang. Control and ground experiment of docking force for multi-module unit assembly in orbit by space robots. Chinese Journal of Theoretical and Applied Mechanics, 2024, 56(3): 1-17. DOI: 10.6052/0459-1879-23-458
Citation: Shi Lingling, Xiao Xiaolong, Zhang Xiaofeng, Fan Lijia, Shan Minghe, Tian Qiang. Control and ground experiment of docking force for multi-module unit assembly in orbit by space robots. Chinese Journal of Theoretical and Applied Mechanics, 2024, 56(3): 1-17. DOI: 10.6052/0459-1879-23-458

空间机器人在轨组装多模块单元的对接力控制与地面实验

CONTROL AND GROUND EXPERIMENT OF DOCKING FORCE FOR MULTI-MODULE UNIT ASSEMBLY IN ORBIT BY SPACE ROBOTS

  • 摘要: 将空间结构模块化单元呈堆叠式发射后通过空间机器人实施在轨组装, 是构建大型空间结构颇具前景的一种方式. 空间机器人在轨组装空间结构模块单元过程中存在动力学模型复杂、对接力控制难和对接过程干扰强等问题. 针对上述难点, 分析了多模块单元在轨组装接触情景, 建立了空间机器人在轨组装的动力学模型和三维空间接触动力学模型, 在此基础上采用了一种基于模型参考自适应阻抗控制的对接过程接触力控制方法. 该方法根据力跟踪误差值实时调整顺应轨迹以适应复杂工况和抵抗外界干扰, 从而使接触力准确跟踪期望值, 以保证模块单元成功对接的同时避免物理接触对机械结构造成损坏. 搭建了空间机器人组装模块单元的仿真平台和地面实验平台, 对空间机器人动力学模型和控制方法进行了验证. 实验结果表明自适应阻抗控制方法在多模块单元同步对接的复杂接触情景下, 仍具有良好的力控制性能和环境适应能力. 该方法可应用于(超)大口径太空光学组合镜组等空间大型结构在轨组装过程的力控制.

     

    Abstract: It is a promising way to construct large-scale space structures, such as large antennas or space telescopes after the modular units of space structures are launched in a stacked manner and then assembled in orbit by space robots. However, there exist the following problems that have to be considered or solved for a successful task in the process of space robot on-orbit assembly of space structure module units, including dynamic models regarding the free-flying space robots and the complex contact scenario, difficult control of docking force/torques considering different docking scenarios, and substantial uncertain interference during the docking process. Given the above difficulties, this paper analyzes the on-orbit assembly contact scenario of multi-module units, builds the dynamic model of space robot for on-orbit assembly tasks and addresses the three-dimensional space contact dynamic model. Further, the authors adopt an adaptive impedance control method based on a reference model to control the docking forces. This method adjusts the compliance trajectory in real-time according to the force tracking error value to adapt to complex working conditions and resist external interference so that the contact force can accurately track the expected value, thereby ensuring the successful docking of module units and avoiding damage to the mechanical structure caused by physical contact. A simulation platform is constructed to numerically verify the modeling and control methods regarding to the whole in-orbit assembly process. Then ground experiment platforms are established to validate the dynamic model of the free-flying space robot and force control method of the space robot during its assembly process. The experimental results show that the adaptive impedance control method still presents good force control performance and environmental adaptability in complex contact scenarios where single-module units or multi-module units are synchronously docked. This method can be applied to force control in the on-orbit assembly process of space large-scale structures such as (super) large-aperture space optical combination mirror group.

     

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