基于障碍Lyapunov函数的双臂空间机器人捕获卫星柔顺控制

doi:10.3969/j.issn.1004-132X.2022.24.011

中国机械工程 ›› 2022, Vol. 33 ›› Issue (24): 2997-3006.DOI: 10.3969/j.issn.1004-132X.2022.24.011

基于障碍Lyapunov函数的双臂空间机器人捕获卫星柔顺控制

朱安1,2;艾海平1;陈力2

1.江西理工大学能源与机械工程学院，南昌，330013
2.福州大学机械工程及自动化学院，福州，350116

出版日期:2022-12-25 发布日期:2023-01-12
通讯作者: 艾海平（通信作者），男，1992 年生，副教授、博士。研究方向为空间机器人系统动力学与控制。 E-mail:ahpwuhan@163.com。
作者简介:朱安，男，1994 年生，博士研究生。研究方向为空间机器人系统动力学与控制。E-mail:zhu_an24@sina.com。
基金资助:
国家自然科学基金（51741502）；江西省教育厅科学技术研究项目（GJJ200864）；江西理工大学博士科研启动基金（205200100l/514）

Compliance Control of Dual-arm Space Robot Capture Satellite Based on Barrier Lyapunov Functions

ZHU An1,2;AI Haiping1;CHEN Li2

1.School of Energy and Mechanical Engineering,Jiangxi University of Science and Technology,Nanchang,330013
2.School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou,350116

Online:2022-12-25 Published:2023-01-12

摘要/Abstract

摘要： 空间机器人捕获卫星操作过程中不可避免地会与卫星接触、碰撞，此过程中若未对其关节进行有效的保护，很容易造成捕获操作失败，因此提出在各关节电机与机械臂之间添加一种弹簧阻尼机构，该机构不仅能够实现碰撞冲击能量的吸收及柔性振动的抑制，还能配合设计的柔顺策略实现捕获操作的柔顺化。分别利用含耗散力Lagrange方程与Newton-Euler方程导出了碰撞前的双臂空间机器人与卫星分体系统动力学方程；结合Newton第三定律、捕获点的速度及闭链几何约束获得了捕获完成后的混合体系统动力学方程，且通过动量守恒关系计算了碰撞冲击效应与冲击力；基于障碍Lyapunov函数设计了一种状态约束控制方法，实现了轨迹的高精度跟踪；采用模糊自适应控制器对系统的不确定项进行拟合，解决了系统参数不确定的影响。通过Lyapunov定理证明了系统的稳定性，并利用数值模拟验证了缓冲机构的抗冲击性能及所提柔顺策略的有效性。

关键词: 双臂空间机器人, 捕获操作, 弹簧阻尼机构, 障碍Lyapunov函数, 模糊自适应控制

Abstract: Space robot would inevitably contact and impact with satellites during the capture operations. If the joints were not effectively protected in this process, it was easy to cause the failures of the capture operations. Therefore, a spring-damper device(SDD) between the joint motors and the manipulators was proposed and added, the device might absorb the impact energy and suppressed the flexible vibrations, and might mathch the designed compliance strategy designed to achieve compliance of capture operations. The dynamics model of dual-arm space robot open-loop system and satellite system before capture was established by using Lagrange function based on dissipation theory and Newton-Euler function respectively. Combined with Newtons third law, velocity constraints of capture points, closed-chain geometric constraints, the closed-chain dynamics model of hybrid system after capture was obtained, and the impact effects and impact forces were calculated by utilizing the momentum conservation. Based on the barrier Lyapunov functions, a state constraint control method was designed to realize high-precision tracking of trajectory, the influences of system parameter uncertainty were solved by fuzzy adaptive controller. The stability of the system was proved by Lyapunov theorem, and the impact resistance of the device and the effectiveness of the proposed strategy were verified by numerical simulations.

Key words: dual-arm space robot, capture operation, spring-damper device, barrier Lyapunov function, fuzzy adaptive control

中图分类号:

TP242

朱安, 艾海平, 陈力. 基于障碍Lyapunov函数的双臂空间机器人捕获卫星柔顺控制[J]. 中国机械工程, 2022, 33(24): 2997-3006.

ZHU An, AI Haiping, CHEN Li. Compliance Control of Dual-arm Space Robot Capture Satellite Based on Barrier Lyapunov Functions[J]. China Mechanical Engineering, 2022, 33(24): 2997-3006.

导出引用管理器 EndNote|Ris|BibTeX

链接本文: http://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2022.24.011

http://www.cmemo.org.cn/CN/Y2022/V33/I24/2997

参考文献

［1］WANG M M, LUO J J, YUAN J P, et al. Detumbling Strategy and Coordination Control of Kinematically Redundant Space Robot after Capturing a Tumbling Target［J］. Nonlinear Dynamics, 2018, 92(3):1023-1043.
［2］雷荣华, 陈力. 空间机器人执行器部分失效故障的终端滑模容错控制［J］.中国机械工程, 2019, 30(8):947-953.
LEI Ronghua, CHEN Li. Terminal Sliding Mode Fault-tolerant Control for Space Robot under Partial Loss of Actuator Effectiveness［J］. China Mechanical Engineering, 2019, 30(8):947-953.
［3］黄小琴, 陈力. 存在死区的双柔杆空间机器人有限时间控制与抑振［J］.中国机械工程, 2019, 30(10):1212-1218.
HUANG Xiaoqin, CHEN Li. Finite-time Control and Vibration Suppression of Two-flexible-link Space Robots with Dead-zone［J］. China Mechanical Engineering, 2019, 30(10):1212-1218.
［4］徐升, 褚明, 张晓东, 等. 面向空间软捕获的双模传动关节设计与仿真［J］.机械工程学报, 2020, 56(19):160-170.
XU Sheng, CHU Ming, ZHANG Xiaodong, et al. Design and Simulation of Dual-mode Transmission Joint for Spatial Soft Capture［J］. Journal of Mechanical Engineering, 2020, 56(19):160-170.
［5］GASBARRI P, PISCULLI A. Dynamic Control Interactions between Flexible Orbiting Space-robot during Grasping, Docking and Post-docking Manoeuvres［J］. Acta Astronautica, 2015, 110:225-238.
［6］蓝启杰, 刘宜成, 张涛. 基于位姿反馈的三臂空间机器人抓捕轨迹规划［J］.中国机械工程, 2018, 29(20):2495-2501.
LAN Qijie, LIU Yicheng, ZHANG Tao. Trajectory Planning of a Three-arm Space Robot Based on Pose Feedback［J］. China Mechanical Engineering, 2018, 29(20):2495-2501.
［7］NICOLIS D, PALUMBO M, ZANCHETTIN A M, et al. Occlusion-free Visual Servoing for the Shared Autonomy Teleoperation of Dual-arm Robots［J］. IEEE Robotics and Automation Letters, 2018, 3(2):796-803.
［8］程靖, 陈力. 空间机器人双臂捕获航天器后姿态管理、辅助对接操作一体化ELM神经网络控制［J］. 机器人, 2017, 39(5):724-732.
CHENG Jing, CHEN Li. ELM Neural Network Control of Attitude Management and Auxiliary Docking Maneuver after Dual-arm Space Robot Capturing Spacecraft［J］. Robot, 2017, 39(5):724-732.
［9］ABDUL H, MITHUN P, ANURAG V, et al. Reactionless Visual Servoing of a Multi-arm Space Robot Combined with Other Manipulation Tasks［J］. Robotics and Autonomous Systems, 2017, 91:1-10.
［10］YAN L, XU W F, HU Z H, et al. Virtual-base Modeling and Coordinated Control of a Dual-arm Space Robot for Target Capturing and Manipulation［J］. Multibody System Dynamics, 2019, 45:431-455.
［11］DIMITROV D, YOSHIDA K. Utilization of the Bias Momentum Approach for Capturing a Tumbling Satellite ［C］∥IEEE/RSJ International Conference on Intelligent Robots and Systems. Sendai:IEEE, 2004:3333-3338.
［12］YOSHIDA K, DIMITROV D, NAKANISHI H. The Capture of Tumbling Satellite by a Space Robot［C］∥ IEEE/RSJ International Conference on Intelligent Robots and Systems. Beijing:IEEE, 2006:4127-4132.
［13］FLORES-ABAD A, ZHANG L, WEI Z, et al. Optimal Capture of a Tumbling Object in Orbit Using a Space Manipulator［J］. Journal of Intelligent and Robotic Systems, 2017, 86:199-211.
［14］江沛, 黄水华, 韦巍, 等. 带关节约束的非冗余机械手臂二阶逆运动学控制［J］. 浙江大学学报(工学版), 2015, 49(10):1885-1892.
JIANG Pei, HUANG Shuihua, Wei Wei, et al. Second-order Inverse Kinematics Control Method for Non-redundant Manipulator with Joint Constraints［J］. Journal of Zhejiang University (Engineering Science), 2015, 49(10):1885-1892.
［15］KONG L, HE W, YANG C, et al. Adaptive Fuzzy Control for Coordinated Multiple Robots with Constraint Using Impedance Learning［J］. IEEE Transactions on Cybernetics, 2019, 49(8):3052-3063.
［16］陈鹏, 项基, 韦巍. 基于GWLN方法的冗余机械臂关节力矩约束控制［J］. 浙江大学学报(工学版), 2017, 51(1):68-74.
CHEN Peng, XIANG Ji, WEI Wei. Torque Limit Constrained Control of Redundant Manipulator Based on GWLN Method［J］. Journal of Zhejiang University (Engineering Science), 2017, 51(1):68-74.
［17］PLIEGO J, ARTEAGA P, LPEZ R. Finite-time Control for Rigid Robots with Bounded Input Torques［J］. Control Engineering Practice, 2020, 102(1):104556.
［18］SARIYILDIZ E, CHEN G, YU H Y. An Acceleration- based Robust Motion Controller Design for a Novel Series Elastic Actuator［J］. IEEE Transactions on Industrial Electronics, 2016, 63(3):1900-1910.
［19］LI X, PAN Y, CHEN G, et al. Continuous Tracking Control for a Compliant Actuator with Two-stage Stiffness［J］. IEEE Transactions on Automation Science and Engineering, 2018, 15(1):57-66.
［20］KEPPLER M, LAKATOS D, OTT C, et al. Elastic Structure Preserving(ESP) Control for Compliantly Actuated Robots［J］. IEEE Transactions on Robotics, 2018, 34(2):317-335.
［21］LIU S, WU L, LU Z. Impact Dynamics and Control of a Flexible Dual-arm Space Robot Capturing an Object［J］. Applied Mathematics and Computation, 2007, 185(2):1149-1159.
［22］HUANG P F, WANG M, MENG Z J, et al. Attitude Takeover Control for Post-capture of Target Spacecraft Using Space Robot［J］. Aerospace Science and Technology, 2016, 51:171-180.
［23］LUO J J, WEI C S, DAI H H, et al. Robust Inertia-free Attitude Takeover Control of Post-capture Combined Spacecraft with Guaranteed Prescribed Performance［J］. ISA Transactions, 2018, 74:28-44.
［24］YAN J, LIU S M, LU D J, et al. Adaptive Controller Design-based ABLF for a Class of Nonlinear Time-varying State Constraint Systems［J］. IEEE Trans. Syst., Man, Cybern., Syst., 2017, 47(7):1546-1553.
［25］LIU Y J, LU S, TONG S. Neural Network Controller Design for an Uncertain Robot with Time-varying Output Constraint［J］. IEEE Trans. Syst., Man, Cybern., Syst., 2017:47(8):2060-2068.
［26］LI M, LI Y, GE S S, et al. Adaptive Control of Robotic Manipulators with Unified Motion Constraints［J］. IEEE Trans. Syst., Man, Cybern., Syst., 2017, 47(1):184-194.

[1]	程靖, 陈力. 双臂空间机器人捕获航天器后的镇定运动分块滑模自适应神经网络控制[J]. 中国机械工程, 2017, 28(12): 1427-1433,1441.
[2]	黄登峰, 陈力. 漂浮基双臂空间机器人系统协调运动的模糊小波神经网络控制 [J]. 中国机械工程, 2011, 22(13): 1591-1596.
[3]	洪昭斌, 陈力. 具有未知参数漂浮基双臂空间机器人惯性空间复合自适应控制 [J]. 中国机械工程, 2010, 21(1): 12-16.
[4]	梁捷, 陈力. 双臂空间机器人基于高斯型函数的姿态、关节运动模糊自适应补偿控制 [J]. 中国机械工程, 2010, 21(03): 330-336.
[5]	郭益深;陈力. 双臂空间机器人姿态与关节协调运动的自适应控制、鲁棒控制[J]. J4, 2008, 19(6): 0-644.
[6]	唐晓腾;陈力. 自由漂浮双臂空间机器人基联坐标系内的一种增广变结构鲁棒控制方法[J]. J4, 2008, 19(19): 0-2272.
[7]	李锐;陈伟民;余淼;廖昌荣;张红辉;李银国;. 汽车磁流变悬架垂直振动控制与试验研究[J]. J4, 2008, 19(17): 0-2045.

基于障碍Lyapunov函数的双臂空间机器人捕获卫星柔顺控制

Compliance Control of Dual-arm Space Robot Capture Satellite Based on Barrier Lyapunov Functions

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 7

编辑推荐

Metrics