CN106292678B - A kind of robot for space pedestal decoupling control method for object run - Google Patents
A kind of robot for space pedestal decoupling control method for object run Download PDFInfo
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- CN106292678B CN106292678B CN201610676552.3A CN201610676552A CN106292678B CN 106292678 B CN106292678 B CN 106292678B CN 201610676552 A CN201610676552 A CN 201610676552A CN 106292678 B CN106292678 B CN 106292678B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The present invention proposes a kind of robot for space pedestal decoupling control method for object run, in the mass inertia for ignoring mechanical arm itself, establish the Space Robot System model operated to target, by the motion information for operating target, to the analytic expression of the various disturbance torques of pedestal when constructing object run, interference is compensated by feedback controller, realizes the decoupling control of pedestal.The present invention is relative to traditional decoupling control, configuration torque sensor is not needed, and it is then realized using interference compensation and pedestal, mechanical arm, the operation comparable control performance of target integrated controller, in practice especially suitable for engineering, the actual conditions that pedestal, mechanical arm, operation target are developed by different research institutes.
Description
Technical field
The present invention relates to a kind of robot for space pedestal decoupling control methods for object run, belong to spacecraft attitude
Control field.
Background technique
Robot for space is multi-body system, and kinetic model is extremely complex, is related to pedestal, operation target, Yi Jilian
Connect the coupling between the mechanical arm of the two.
Control method when robot for space carries out object run at present is broadly divided into two schemes, the first is by space
Robot is considered as an entirety, carries out unified controller design to pedestal, mechanical arm, operation target, carries out coupling control, i.e.,
It is required that carrying out integrated controller design to them, three's information is acquired by center-controlling computer is unified, then unites
One is controlled, and this controller is based on high-dimensional model, and the controller dimension of design is high, it is complicated to calculate；Another kind is decoupling
Controller installs six-dimension force sensor in mechanical arm roots, disturbance torque when by real-time measurement robotic arm manipulation target,
Repaid at the beginning of disturbance torque is feedovered in the controller of pedestal, this method controller form is simple, by pedestal and mechanical arm and
The control decoupling of target is operated, controller is succinct, and calculation amount is small, but needs to configure six-dimension force sensor, and requires measurement
Torque accuracy is high, and otherwise system control precision is poor.Above two scheme cuts both ways, the former does not need configuration high-precision torque
Sensor, but it is computationally intensive, controller is complicated；The latter's calculation amount is small, controller is succinct, but needs to configure high-precision moment sensing
Device.
On Practical Project, pedestal, mechanical arm, operation target are often to be developed by different research institute, between three
In information systems, complete seamless connection can not achieve, integral type control, therefore above two controlling party can not be carried out to three
Case, latter control program is closer to engineering reality.
Summary of the invention
The technology of the present invention solves the problems, such as: overcoming the deficiencies of the prior art and provide a kind of space machine for object run
People's pedestal decoupling control method, do not need configuration torque sensor, and then realized using interference compensation with pedestal, mechanical arm,
The comparable control performance of target integrated controller is operated, in practice especially suitable for engineering, pedestal, mechanical arm, operation target
The actual conditions developed by different research institutes.
The principle of the present invention: devising a kind of controller, need to only control pedestal, and the quality for ignoring mechanical arm is special
Property, only consider pedestal and operate the mass inertia characteristic of target, while operation target compensating the interference of pedestal, controls
Device form is greatly simplified.The controller does not need simultaneously to control pedestal, mechanical arm and operation target, realizes
Decoupling between pedestal, mechanical arm, operation target, is particularly suitable for engineering in practice, and pedestal, mechanical arm, operation target be not respectively by
The case where commensurate develops.In Practical Project, the mass inertia of mechanical arm only accounts for the 10% of whole system hereinafter, the present invention is logical
The mass inertia characteristic for ignoring mechanical arm is crossed, controller when robot for space carries out object run, the performance of controller are obtained
It is able to satisfy engineering demand, the form concision and compact of controller, particularly suitable for practical implementation completely.
The technology of the present invention solution: a kind of robot for space pedestal decoupling control method for object run, including
Following steps:
(1) definition space robot is made of pedestal, mechanical arm, operation target, and mechanical arm is installed on the base, and machine is utilized
Tool arm carries out the operation such as capturing to operation target, defines orbital coordinate system XYZ, and origin is located at the mass center of robot for space, and Z axis refers to
To the earth's core, X-axis pointing space robot heading, Y-axis and X, Z axis form rectangular coordinate system；On pedestal and objective body, point
Connected body coordinate system is not established；Define the body coordinate system X of pedestal0Y0Z0, origin is located at the mass center of pedestal, X0Axis, Y0Axis,
Z0Axis respectively corresponds parallel with X-axis, Y-axis, Z axis；The body coordinate system X of defining operation target1Y1Z1, origin, which is located at, operates target
Mass center, X1Axis, Y1Axis, Z1Axis respectively corresponds parallel with X-axis, Y-axis, Z axis difference；Define inertial coodinate system XiYiZi, origin position
In the mass center of robot for space, Xi、Yi、ZiIt is remained pointing in inertial space constant；
(2) attitude controller form of the design based on quaternary number information is
TCMG=-JA(kdω0+kpqe)+Tdist
Wherein, q=[qe0qe]TFor attitude quaternion, qeFor the vector section of attitude quaternion, qe0For attitude quaternion
Scalar component.For the total rotary inertia of system, A01For from coordinate system X1Y1Z1
To coordinate system X0Y0Z0Coordinate conversion matrix；The system refers to the group formed after robot for space mechanical arm is connect with target
It is fit；
J0Rotary inertia for base part relative to its mass center, J1Rotary inertia for operation target with respect to its mass center,
For operate target centroid opposite base mass center vector,Angular speed for pedestal relative to inertial system,It is target with respect to base
The angular speed of seat,For the movement velocity of target centroid opposite base mass center.Variable in above formula in addition toAnd J1In operation mesh
Description is outer in target body coordinate system, and other vectors or dyad indicate in this system of pedestal；
(3) it is directed to attitude controller, extracts operation target respectively to the distracter of pedestal, it may be assumed that
Disturbance torque caused by being changed by system inertia are as follows:
The disturbance torque as caused by the speed of target are as follows:
The disturbance torque as caused by the acceleration of target are as follows:
The disturbance torque as caused by the linear acceleration of target are as follows:
The gyroscopic couple as caused by system angular momentum are as follows:
(4) according to the attitude controller in (1), respectively interference expression formula judges that inertia changes caused perturbed force above for use
Square, operate target speed caused by disturbance torque, operate target acceleration caused by disturbance torque, operate target line add
Influence of the disturbance torque caused by speed to robot for space gesture stability can judge every interference in system design respectively,
Influence of the speed, acceleration, linear acceleration of system rotary inertia, operation target during adjustment object run to system.
Detailed process is as follows for the step (4):
(1) if by emulation, disturbance torque T caused by being changed by system inertiadist1More than given threshold, then should reduceIt is emulated again, until Tdist1Less than the threshold value of setting；
(2) if by emulation, the disturbance torque T as caused by the speed of operation targetdist2More than given threshold, then should subtract
Small ω1, then emulated, until Tdist2Less than the threshold value of setting；
(3) if by emulation, the disturbance torque T as caused by the acceleration of operation targetdist3More than given threshold, then answer
ReduceIt is emulated again, until Tdist3Less than the threshold value of setting；
(4) if by emulation, the disturbance torque T as caused by the linear acceleration of operation targetdist4More than given threshold, then
A should be reduced1, then emulated, until Tdist4Less than the threshold value of setting.
Compared with the prior art, the invention has the advantages that:
(1) present invention is a kind of controller of system decoupling, which only needs to control pedestal, and will operate mesh
Mark compensates the interference of robot.It is compensated by the interference to operation target, has reached and only pedestal is decoupled
Control, and control performance is suitable with complicated pedestal, mechanical arm, operation target overall-in-one control schema；
(2) relative to traditional decoupling control method, this method does not need to newly increase torque sensor the present invention, by existing
Some metrical informations, compensate interference, have achieved the purpose that decoupling control, reduce control system cost and in-orbit wind
Danger；
(3) present invention by operate target to pedestal interference using operation target opposite base position and posture information into
Row Analytical Expression classifies various interference, can prove pedestal by interference expression formula and angular momentum expression formula and execute machine
The torque and angular momentum demand of structure.These expression formulas did not occur in previous literature；
(4) controller form of the present invention is simple and compact, and controller is small by calculation amount, thinking is clear, especially suitable for engineering
In practice, the actual conditions that pedestal, mechanical arm, operation target are developed by different research institutes.
Detailed description of the invention
Fig. 1 is the robot for space topological structure schematic diagram for ignoring mechanical arm mass property；
Fig. 2 is the flow chart of design of the invention.
Specific embodiment
The present invention is different from above two traditional control method, proposes one kind and does not need configuration high-precision moment sensing
The pedestal of device, mechanical arm, the decoupling controller for controlling target.
The present invention is based on a fact, i.e. robot for space generally has 6 to 7 freedom as a system, mechanical arm
Degree, measurement acquisition information content is very big, joint angles, joint angular speed, joint angular acceleration including each joint of mechanical arm,
This also causes relative calculation amount opposite base and operation target maximum；And pedestal, mechanical arm and operation target are to system
Dynamic response contribution it is substantially directly proportional to the accounting of its quality in systems, since the quality of mechanical arm is typically less than
The 10% of total system mass, influences the dynamic response of system minimum, therefore the present invention is when carrying out controller design, suddenly
The slightly mass inertia of connection pedestal and the mechanical arm of operation target, is directly described using operation target and the motion state of pedestal
System carries out controller design, and system schematic is as shown in Figure 1 after ignoring mechanical arm.
As shown in Fig. 2, control method is accomplished by the present invention
(1) robot for space is made of pedestal, mechanical arm, operation target, defines orbital coordinate system XYZ, and origin is located at sky
Between robot mass center, Z axis is directed toward the earth's core, and X-axis pointing space robot heading, Y-axis and X, Z axis form rectangular co-ordinate
System；On pedestal and objective body, connected body coordinate system is established respectively；Define the body coordinate system X of pedestal0Y0Z0, origin position
In the mass center of pedestal, X0Axis, Y0Axis, Z0Axis respectively corresponds parallel with X-axis, Y-axis, Z axis；The body coordinate system of defining operation target
X1Y1Z1, mass center of the origin positioned at operation target, X1Axis, Y1Axis, Z1Axis respectively corresponds parallel with X-axis, Y-axis, Z axis difference；Definition
Inertial coodinate system XiYiZi, origin is located at the mass center of robot for space, Xi、Yi、ZiIt is remained pointing in inertial space constant；
Ignore quality, the Inertia Characteristics of robot for space mechanical arm first, consider pedestal and operates the system angular motion of target
Measure expression formula are as follows:
Wherein, J0Rotary inertia for base part relative to its mass center, J1It is used relative to the rotation of its mass center for operation target
Amount,For operate target centroid opposite base mass center vector,Angular speed for pedestal relative to inertial system,For target phase
To the angular speed of pedestal,For the movement velocity of target centroid opposite base mass center.(1) variable in formula in addition toAnd J1It is grasping
Make in the body coordinate system of target outside description, other vectors or dyad indicate in this system of pedestal.
(2) (1) formula is projected in this system of pedestal, it is as follows obtains the equation of angular momentum:
Wherein,For the total rotary inertia of system, A01For from coordinate system
X1Y1Z1To coordinate system X0Y0Z0Coordinate conversion matrix；
(3) due to(2) are declined, and to get the attitude dynamic equations of system be as follows
Form:
Wherein,
(4) attitude controller based on quaternary number information is designed
TCMG=-JA(kdω0+kpqe)+Tdist
Wherein, q=[qe0 qe]TFor attitude quaternion, qeFor the vector section of attitude quaternion, qe0For attitude quaternion
Scalar component.The stability of Lyapunov function proof system can be passed through.It is defined as follows the Lyapunov function of form
Wherein kpThe constant being positive.
It can be obtained to above formula derivation, and by the substitution of (3) formula
Therefore T is takenCMG=-JA(kdω0+kpqe)+Tdist, wherein kdAlso the constant being positive.Then (6) formula becomes
And if only if ω0When=0In order to which proof system is asymptotically stable, general
TCMG=-JA(kdω0+kpqe)+TdistFormula substitutes into (3) and can obtain
If ω0=0, thenFrom the above equation, we can see thatTherefore provable by LaSalle invariant set principle
I.e. the asymptotic stability of system must be demonstrate,proved.
(5) for the controller in formula (4), operation target can also be extracted respectively to the distracter of pedestal, it may be assumed that
Disturbance torque caused by being changed by system inertia are as follows:
The disturbance torque as caused by the speed of target are as follows:
The disturbance torque as caused by the acceleration of target are as follows:
The disturbance torque as caused by the linear acceleration of target are as follows:
The gyroscopic couple as caused by system angular momentum are as follows:
(6) according to the controller in step 4 and the analysis in step 5, it can determine whether various disturbances to robot for space
The influence of gesture stability, therefore in system design, influence size of every interference to system can be judged respectively；Pass through (3)
Formula can see, the monomer attitude motion of spacecraft when attitude motion of robot for space is equal to by external disturbance；
(7) assume that the angular momentum of robot for space in the short time is constant, according to conservation of angular momentum principle, also by (1) formula
It can determine whether the demand size of the angular momentum of executing agency are as follows:
Whether the angular momentum selection that therefore (5) formula can be used to analyze executing agency meets the requirements.
(7) in the present invention, the relative position and posture information, these information for having used operation target opposite base can lead to
Cross two schemes acquisition.If operating target is cooperative target, the relative position sensor or gyro in operation target can be passed through
Output information obtains；If operating target is noncooperative target, can be passed through by joint angle, the joint angular velocity information of mechanical arm
It calculates and makes a profit, at this moment need collection machinery shoulder joint information, but do not need the dynamics of calculating machine arm, still do not influence this hair
The characteristics of bright middle controller, i.e. calculation amount, are little.
Calculation amount involved in the present invention is little, and required parameter can obtain.
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (2)
1. a kind of robot for space pedestal decoupling control method for object run, it is characterised in that the following steps are included:
(1) definition space robot is made of pedestal, mechanical arm, operation target, and mechanical arm is installed on the base, and mechanical arm is utilized
Capture operation is carried out to operation target, defines orbital coordinate system XYZ, origin is located at the mass center of robot for space, and Z axis is directed toward ground
The heart, X-axis pointing space robot heading, Y-axis and X, Z axis form rectangular coordinate system；On pedestal and objective body, build respectively
Found connected body coordinate system；Define the body coordinate system X of pedestal0Y0Z0, origin is located at the mass center of pedestal, X0Axis, Y0Axis, Z0Axis
It respectively corresponds parallel with X-axis, Y-axis, Z axis；The body coordinate system X of defining operation target1Y1Z1, matter of the origin positioned at operation target
The heart, X1Axis, Y1Axis, Z1Axis respectively corresponds parallel with X-axis, Y-axis, Z axis difference；Define inertial coodinate system XiYiZi, origin is located at empty
Between robot mass center, Xi、Yi、ZiIt is remained pointing in inertial space constant；
(2) attitude controller form of the design based on quaternary number information is
TCMG=-JA(kdω0+kpqe)+Tdist
Wherein, q=[qe0 qe]TFor attitude quaternion, qeFor the vector section of attitude quaternion, qe0For the scalar of attitude quaternion
Part,For the total rotary inertia of system, A01For from coordinate system X1Y1Z1To seat
Mark system X0Y0Z0Coordinate conversion matrix；The system refers to the assembly formed after robot for space mechanical arm is connect with target；
J0Rotary inertia for base part relative to its mass center, J1Rotary inertia for operation target with respect to its mass center,For behaviour
Make the vector of target centroid opposite base mass center, correspondingly R is indicatedComponent value in coordinate system, other variables are similar,
Angular speed for pedestal relative to inertial system,For the angular speed of target opposite base,For target centroid opposite base mass center
Movement velocity；Variable in above formula in addition toAnd J1Description is outer in the body coordinate system of operation target, other vectors or simultaneously
Arrow indicates in this system of pedestal；
(3) it is directed to attitude controller, extracts operation target respectively to the distracter of pedestal, it may be assumed that
Disturbance torque caused by being changed by system inertia are as follows:
The disturbance torque as caused by the speed of target are as follows:
The disturbance torque as caused by the acceleration of target are as follows:
The disturbance torque as caused by the linear acceleration of target are as follows:
The gyroscopic couple as caused by system angular momentum are as follows:
(4) according to the attitude controller in (1), use above respectively interference expression formula judge the caused disturbance torque of inertia variation,
The line acceleration for operating disturbance torque caused by the speed of target, operating disturbance torque caused by the acceleration of target, operating target
Influence of the disturbance torque to robot for space gesture stability caused by spending can judge every interference in system design respectively, adjust
Influence of the speed, acceleration, linear acceleration of system rotary inertia, operation target during whole object run to system.
2. the robot for space pedestal decoupling control method according to claim 1 for object run, it is characterised in that:
Detailed process is as follows for the step (4):
(1) if by emulation, disturbance torque T caused by being changed by system inertiadist1More than given threshold, then should reduce
It is emulated again, until Tdist1Less than the threshold value of setting；
(2) if by emulation, the disturbance torque T as caused by the speed of operation targetdist2More than given threshold, then should reduce
ω1, then emulated, until Tdist2Less than the threshold value of setting；
(3) if by emulation, the disturbance torque T as caused by the acceleration of operation targetdist3More than given threshold, then should reduceIt is emulated again, until Tdist3Less than the threshold value of setting；
(4) if by emulation, the disturbance torque T as caused by the linear acceleration of operation targetdist4More than given threshold, then should subtract
Small a1, then emulated, until Tdist4Less than the threshold value of setting.
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0541052A1 (en) * | 1991-11-05 | 1993-05-12 | Hitachi, Ltd. | Spacecraft system |
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| CN103341865B (en) * | 2013-07-05 | 2015-06-24 | 大连理工大学 | Three-freedom-degree constant speed decoupling space robot active spherical wrist and universal compliant control method |
| CN104875194A (en) * | 2015-05-20 | 2015-09-02 | 北京交通大学 | Dual-output 3D printing four-degree-of-freedom decoupling parallel robot |
| CN104965517B (en) * | 2015-07-07 | 2018-01-26 | 张耀伦 | A kind of planing method of robot cartesian space track |
| CN205219108U (en) * | 2015-12-15 | 2016-05-11 | 佳木斯大学 | Three move four degree of freedom space parallel mechanism of a rotation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP0541052A1 (en) * | 1991-11-05 | 1993-05-12 | Hitachi, Ltd. | Spacecraft system |
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| 《空间机器人快速在轨抓捕动力学与控制研究》;郭胜鹏;《中国博士学位论文全文数据库 信息科技辑》;20151115;全文 |
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