空间机器人系统复杂,需要在地面进行充分的实验以验证和评估其设计方案和控制算法。为了对系统方案中各部件电气接口设计的有效性、信息传递的正确性进行检验,同时,演示验证信息管理、任务调度的实时性,以及在轨执行任务的能力,设计并研制了一套空间机械手模拟器系统。该系统由空间机械手中央控制器模拟器、关节电模拟器、手爪电模拟器、手眼相机电模拟器、图形仿真器、空间机械手动力学模块和信息调度仿真器组成,各部件之间的电气连接与星上实际系统一致。通过HLA/RTI(Run Time Infrastructure)仿真支撑环境与航天器姿轨控系统进行信息同步和交互,实现了空间机器人在轨任务的仿真。最后提出了一种空间机器人在轨协调控制方法,利用该系统进行了空间机器人协调控制圆弧实验,实验结果表明该系统设计合理、运行稳定,采用的协调控制方法可行有效。
The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields.Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance,so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints.Thus,sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process.Due to the switching effects of the variable structure controller,once the tracking error reaches the designed hyper-plane,it will be restricted to this plane permanently even with the existence of external disturbances.Thus,precise attitude regulation can be achieved.Furthermore,taking the non-zero initial tracking errors and chattering phenomenon into consideration,saturation functions are used to replace sign functions to smooth the control torques.The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller.Mathematical models of free-floating space manipulator are established and simulations are conducted in the end.The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm,the steady state error is 0.000 2 rad.In addition,the joint tracking trajectory is smooth,the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input.The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion,and improves the precision of the spacecraft attitude regulation.
