Utilizing Redundancy of Orientation-Control Wheels for Lowering Energy-Consumption of Space Robot Systems that Regenerate Electricity
Utilizing Redundancy of Orientation-Control Wheels for Lowering Energy-Consumption of Space Robot Systems that Regenerate Electricity
复制标题
利用定向轮冗余降低再生电力空间机器人系统的能耗
DOI：
10.7210/jrsj.11.717
复制
发表时间：
1993
期刊：
影响因子：
--
通讯作者：
S. Ito
中科院分区：
文献类型：
--
作者：
Yoshihiko Nakamura;S. Ito
降低空间机器人系统的能耗有三重理由：更轻的系统、更长的寿命和更容易的热控制。本文从控制的角度对这一问题进行了研究。有人提出，当空间机器人减速时，可以再生电能并将其储存起来。即使当我们再生电能时，仍然有各种物理原因造成的能量损失，如电机的电阻和机械摩擦造成的热损失，电池的充电损失等。已知的充电效率为75-80%，其余为充电损耗。我们的目标是通过运动控制完全消除这种损失。其主要思想是利用动能守恒的人为约束来控制空间机器人系统的运动。这使得充电变得不必要，并且充电损失为零。我们利用控制动量轮的冗余性来满足标量约束。仿真结果表明，采用所提出的控制方法，三秒钟的运动可节省约40-84(J)。
Lowering energy consumption of space robot systems has triple fold reasoning : lighter-weight systems, longer life-time, easier heat-control. In this paper, we have studied this problem from control point of view. It has been proposed to regenerate electricity and store it when a space robot decelerate its motion. Even when we regenerate electricity, there still is energy loss due to various physical reasons such as heat loss by electric resistance of motors and mechanical friction, recharging loss of battery, and so on. The recharging efficiency is known to be 75-80% and the rest is the recharging loss. We aim at totally eliminating this loss by motion control. The main idea is to control the motion of a space robot system with the artificial constraint of kinetic energy conservation. This makes recharging unnecessary and recharging-loss zero. We utilize the redundancy of control momentum wheels to meet the scalar constraint. The simulation result shows that a three-second motion with the proposed control can save approximately 40-84 (J) .