Coordinated control of tethered space robot using releasing characteristics of space tether
Coordinated control of tethered space robot using releasing characteristics of space tether
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DOI：
10.1109/robio.2015.7418990
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发表时间：
2015-12
期刊：
影响因子：
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通讯作者：
Panfeng Huang;Dongke Wang;Xiudong Xu;Zhongjie Meng
中科院分区：
文献类型：
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作者：
Panfeng Huang;Dongke Wang;Xiudong Xu;Zhongjie Meng
系留空间机器人（TSR）是一种新型空间机器人。传统的TSR协调控制可以直接将系索拉力作为控制输入。然而，很难跟踪所需的张力。为了解决这一问题，本文采用释放电机的控制转矩代替张力输入。为跟踪最优轨迹和期望姿态角提供了新的协调耦合控制方法。该动力学模型考虑了锚链释放机构的动力学特性。在此基础上，提出了包含6自由度滑模控制器和释放盘PD控制器的协调耦合控制器。最后，通过仿真实验验证了该控制方法的有效性。结果表明，TSR能准确跟踪最优逼近轨迹。同时，姿态角可在控制周期内改变为所需姿态角，终端精度为±0.3度。
Tethered Space Robot (TSR) is a new kind of space robot. The tension force of tether can be treated as control input directly for traditional coordinated control of TSR. However, it is difficult to track the desired tension force. In this paper, tension force input is replaced by the control torque of releasing motor in order to solve this problem. Furthermore, it provides new coordinated coupled control method for tracking optimal trajectory and desired attitude angles. The dynamics of tether releasing mechanism is taken into account in this dynamics model. Furthermore, the coordinated coupled controller is proposed, which contains 6-DOF sliding mode controller and PD controller of releasing reel. Finally, the simulation experiment is proposed in order to validate the effectiveness of this control method. The results show that TSR can track the optimal approaching trajectory accurately. Simultaneously, the attitude angles can be changed to the desired attitude angles in control period, and the terminal accuracy is ± 0.3 degree.