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Robust Control of Space Robot Paying Attention to Nonlinearity

关注非线性的空间机器人鲁棒控制

基本信息

批准号：
05555069
负责人：
NONAMI Kenzo
金额：
$ 7.68万
依托单位：
Chiba University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Developmental Scientific Research (B)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1994
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-05555069/
关键词：
Space Robot Attitude Control Discrete Time Sliding Mode Control Robust Control Nonlinear Control Chattering Experiment スライディングモード制御 DSP制御スラスタリアクションホイール

项目摘要

An attitude control algorithm of a free-flying space robot with thrusters is proposed. It is well known that the motion of the manipulator attached to the main body of a space robot causes the attitude deviation of the main body because of dynamic interaction, and an effective attitude control algorithm is desired. An equation of motion for the attitude of the space robot is derived using the Lagrange equation. The proposed disturbed torque compensation algorithm, which is a kind of feedforward control is as follows. The inertia force, which is calculated from the equation of motion, is considered as the disturbance torque for the main body. Thrusters act to compensate the impulse of the disturbance torque. The proposed algorithm is compared with the time optimal control and time-fuel optimal control algorithms. Simulation results of attitude deviations and input energy are discussed.Also, this research proposes the effectiveness of the computer based discrete time sliding mode control algorithm to compensate the attitude deviation of the main body of a free-flying space robot, which is caused by both the motion of manipulators on it, and the disturbance caused by capturing a flying target such as space debris. The controller design methodology using discrete time sliding mode control algorithm is developed. And the performance of it is compared with those current discrete time PD control algorithm and continuous time sliding mode control algorithm causes no chattering that is often observed in the case of the continuous time sliding mode control algorithm. It is clarified that the discrete time sliding mode control algorithm is the highest performance and robustness than other control algorithm.

提出了一种带有推进器的自由飞行空间机器人姿态控制算法。众所周知，空间机器人附着在主体上的机械臂在运动过程中会由于动态相互作用而引起主体的姿态偏差，因此需要一种有效的姿态控制算法。利用拉格朗日方程导出了空间机器人姿态的运动方程。本文提出的扰动转矩补偿算法是一种前馈控制。将由运动方程计算得到的惯性力作为主体的扰动力矩。推力器的作用是补偿扰动力矩的冲击。将该算法与时间最优控制算法和时间燃料最优控制算法进行了比较。讨论了姿态偏差和输入能量的仿真结果。此外，本文还提出了基于计算机的离散时间滑模控制算法对自由飞行空间机器人主体的姿态偏差进行补偿的有效性，该姿态偏差是由机械手在主体上的运动和捕获空间碎片等飞行目标所引起的扰动引起的。提出了采用离散时间滑模控制算法的控制器设计方法。并将其性能与现有的离散时间PD控制算法和连续时间滑模控制算法进行了比较，发现连续时间滑模控制算法不会产生抖振现象。结果表明，离散时间滑模控制算法的性能和鲁棒性优于其他控制算法。