全部 标题 作者
关键词 摘要

OALib Journal期刊
ISSN: 2333-9721
费用:99美元

查看量下载量

相关文章

更多...

控制力矩陀螺驱动的空间机器人轨迹跟踪控制

DOI: 10.13700/j.bh.1001-5965.2013.0259, PP. 285-291

Full-Text   Cite this paper   Add to My Lib

Abstract:

提出一种新的空间机器人设计概念,并研究其轨迹跟踪控制问题.系统中的各机械臂以自由球铰连接,在机器人平台和每节机械臂上均安装有一组控制力矩陀螺(CMGs,ControlMomentGyroscopes)作为控制力矩执行机构.采用改进的罗格里得斯参数(MRPs,ModifiedRodriguesParameters)描述平台和各节机械臂的姿态,利用Kane方程建立了系统的动力学模型.在此基础上,用逆动力学方法设计了系统的轨迹跟踪控制律,用以实现卫星平台的位置/姿态和机械臂末端作用器位置的轨迹跟踪控制.采用带有零运动的CMGs操纵律以使CMGs准确输出力矩并回避构型奇异.基于两关节机械臂系统和金字塔构型CMGs的数值仿真结果验证了所设计的控制律和操纵律的有效性,以及自由球铰连接方式在提高末端作用器运动自由度和降低系统动力学耦合方面的优越性.

References

[1]  Xu W F,Liang B,Xu Y S.Survey of modeling,planning,and ground verification of space robotic systems[J].Acta Astronautica,2011,68(11/12):1629-1649
[2]  Brown D,Peck M A.Energetics of control moment gyroscopes as joint actuators[J].Journal of Guidance,Control and Dynamics,2009,32(6):1871-1883
[3]  Carpenter M D,Peck M A.Minimum-power robotic maneuvering using control-moment gyroscopes[C]//AIAA Guidance,Naviga-tion,and Control Conference 2007.Hilton Head,SC:American Institute of Aeronautics and Astronautics Inc,2007:210-222
[4]  Osuka K,Yoshida K,Ono T.New design concept of space manipulator-a proposal of torque-unit manipulator[C]//Proceedings of the 33rd Conference on Decision and Control.Lake Buena Vista,FL:IEEE,1994:1823-1825
[5]  Carpenter M D.Power-optimal steering of a space robotic system driven by control-moment gyroscopes[C]//AIAA Guidance,Navigation and Control Conference and Exhibit.Honolulu,HI:American Institute of Aeronautics and Astronautics Inc,2008:7270-1-7270-15
[6]  Peck M A,Paluszek M A,Thomas S J,et al.Control-moment gyroscopes for joint actuation:a new paradigm in space robotics[C]//1st Space Exploration Conference:Continuing the Voyage of Discovery.Orlando,FL:American Institute of Aeronautics and Astronautics Inc,2005:204-233
[7]  Brown D,Peck M A.Scissored-pair control-moment gyros:a mechanical constraint saves power[J].Journal of Guidance,Control and Dynamics,2008,31(6):1823-1826
[8]  Peck M A.Low-power,high-agility space robotics[C]//AIAA Guidance,Navigation,and Control Conference 2005.San Francisco,CA:American Institute of Aeronautics and Astronautics Inc,2005:3759-3770
[9]  Carpenter M D,Peck M A.Reducing base reactions with gyroscopic actuation of space robotic systems[J].IEEE Transactions on Robotics,2009,25(6):1262-1270
[10]  Carpenter M D,Peck M A.Dynamics of a high-agility,low-power coelostat telescope[C]//AIAA Guidance,Navigation,and Control Conference 2006.Keystone,CO:American Institute of Aeronautics and Astronautics Inc,2006:4175-4191
[11]  Yoon H,Tsiotras P.Adaptive spacecraft attitude tracking control with actuator uncertainties[C]//AIAA Guidance,Navigation,and Control Conference 2005.San Francisco,CA:American Institute of Aeronautics and Astronautics Inc,2005:5311-5322
[12]  宿敬亚,张瑞峰,蔡开元.基于MRP的全局稳定的PID刚体姿态控制[J].航空学报,2011,32(4): 710-719 Su Jingya,Zhang Ruifeng,Cai Kaiyuan.Globally stabilization PID attitude control of rigid body based on MRP[J].Acta Aeronautica et Astronautica Sinica,2011,32(4):710-719(in Chinese)
[13]  Carpenter M D,Peck M A.Minimum-power robotic maneuvering using control-moment gyroscopes[C]//AIAA Guidance,Naviga-tion,and Control Conference 2007.Hilton Head,SC:American Institute of Aeronautics and Astronautics Inc,2007:210-222
[14]  Banerjee A K,Kane T R.Large motion dynamics of a spacecraft with a closed-loop,articulated,flexible appendage[C]//25th AIAA Structures,Structural Dynamics and Materials Conference.Palm Springs,CA:American Institute of Aeronautics and Astronautics Inc,1984:1-37
[15]  汤亮,贾英宏,徐世杰.使用单框架控制力矩陀螺的空间站姿态控制系统建模与仿真[J].宇航学报,2003,24(2): 126-131 Tang Liang,Jia Yinghong,Xu Shijie.Modeling and simulation of attitude control for space station with SGCMG system[J].Journal of Astronautics,2003,24(2):126-131(in Chinese)
[16]  Carpenter M D.Power-optimal steering of a space robotic system driven by control-moment gyroscopes[C]//AIAA Guidance,Navigation and Control Conference and Exhibit.Honolulu,HI:American Institute of Aeronautics and Astronautics Inc,2008:7270-1-7270-15
[17]  Brown D,Peck M A.Scissored-pair control-moment gyros:a mechanical constraint saves power[J].Journal of Guidance,Control and Dynamics,2008,31(6):1823-1826
[18]  Carpenter M D,Peck M A.Reducing base reactions with gyroscopic actuation of space robotic systems[J].IEEE Transactions on Robotics,2009,25(6):1262-1270
[19]  Yoon H,Tsiotras P.Adaptive spacecraft attitude tracking control with actuator uncertainties[C]//AIAA Guidance,Navigation,and Control Conference 2005.San Francisco,CA:American Institute of Aeronautics and Astronautics Inc,2005:5311-5322
[20]  宿敬亚,张瑞峰,蔡开元.基于MRP的全局稳定的PID刚体姿态控制[J].航空学报,2011,32(4): 710-719 Su Jingya,Zhang Ruifeng,Cai Kaiyuan.Globally stabilization PID attitude control of rigid body based on MRP[J].Acta Aeronautica et Astronautica Sinica,2011,32(4):710-719(in Chinese)
[21]  Banerjee A K,Kane T R.Large motion dynamics of a spacecraft with a closed-loop,articulated,flexible appendage[C]//25th AIAA Structures,Structural Dynamics and Materials Conference.Palm Springs,CA:American Institute of Aeronautics and Astronautics Inc,1984:1-37
[22]  汤亮,贾英宏,徐世杰.使用单框架控制力矩陀螺的空间站姿态控制系统建模与仿真[J].宇航学报,2003,24(2): 126-131 Tang Liang,Jia Yinghong,Xu Shijie.Modeling and simulation of attitude control for space station with SGCMG system[J].Journal of Astronautics,2003,24(2):126-131(in Chinese)

Full-Text

Contact Us

service@oalib.com

QQ:3279437679

WhatsApp +8615387084133