CN111443725B - Spacecraft mechanical arm trajectory planning method based on Riemann sub-manifold representation and optimization - Google Patents
Spacecraft mechanical arm trajectory planning method based on Riemann sub-manifold representation and optimization Download PDFInfo
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Abstract
The invention discloses a spacecraft mechanical arm trajectory planning method based on Riemann sub-manifold representation and optimization, which comprises the following steps of: step 1, constructing a spacecraft variable geometry truss flexible mechanical arm control track optimization control model based on manifold representation; step 2, constructing an optimal control model of a spacecraft variable geometry truss flexible mechanical arm control track with Riemann sub-manifold constraint; step 3, executing a linear Riemann sub-manifold constraint spacecraft variable geometry truss flexible mechanical arm control track optimal control model; and 4, solving the optimal control problem of the control track of the spacecraft variable geometry truss flexible mechanical arm represented by the linearized Riemannian sub-manifold. The method can improve the feasibility, reliability and effectiveness of planning the control track of the flexible mechanical arm of the variable-geometry truss of the spacecraft in the condition of limited space and multiple obstacles, and provides theoretical and technical support for the development of in-orbit service and maintenance systems in China.
Description
Technical Field
The invention relates to the field of trajectory planning methods, in particular to a spacecraft mechanical arm trajectory planning method based on Riemann sub-manifold representation and optimization.
Background
In the space vehicle on-orbit service and maintenance system (planned by scientific innovation 2030), target space vehicles as client systems are generally divided into two categories: cooperative targets and non-cooperative targets. The service life of the spacecraft can be effectively prolonged by carrying out on-orbit service and maintenance on the space non-cooperative target, the space launching and running cost is reduced, and the method has important significance for the development of space career. The space non-cooperative targets comprise abandoned satellites, orbital garbage and the like, and the targets have no response, no identification, no cooperation, even no prior information and do not cooperate with active spacecrafts to complete operation tasks. At present, most satellites are not designed according to an on-orbit service system, and no prior information such as a docking interface and a cooperative marker which can be used for on-orbit grabbing exists. The lack of prior information makes tracking and fine control of non-cooperative targets extremely challenging.
The trajectory planning under the condition of limited space and multiple obstacles is the key to complete space on-orbit service and maintenance tasks. However, the fine control in the limited space brings huge technical challenges to the space on-orbit service, such as on-orbit multi-source information fusion, obstacle avoidance, trajectory planning in the limited space, path generation under mutual disturbance, and the like, and these technical problems aggravate the complexity of trajectory planning of the space robot. Wherein the trajectory planning under manifold constraint causes uncertainty in the trajectory generation of the space robot.
The literature retrieval of the prior art shows that the existing aerospace fine control platform does not develop research work aiming at the problem of trajectory planning under manifold constraint. The existing trajectory planning methods, such as a sampling-based planning method and a lie group-based planning method, cannot ensure the convergence of the solving process and the feasibility of trajectory generation.
Therefore, those skilled in the art are dedicated to develop a method for trajectory planning under manifold constraint and make the method convergent and feasible.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved by the present invention is to study a trajectory planning method under the manifold constraint, which can ensure the convergence and the trajectory generation feasibility.
In order to achieve the purpose, the invention provides a spacecraft mechanical arm trajectory planning method based on Riemann sub-manifold representation and optimization, which is characterized by comprising the following steps of:
step 1, constructing a spacecraft variable geometry truss flexible mechanical arm control track optimization control model based on manifold representation;
step 2, constructing an optimal control model of a spacecraft variable geometry truss flexible mechanical arm control track with Riemann sub-manifold constraint by a spacecraft variable geometry truss flexible mechanical arm controller;
step 3, the spacecraft variable geometry truss flexible mechanical arm controller executes a spacecraft variable geometry truss flexible mechanical arm control track optimal control model of linearized Riemannian sub-manifold constraint;
and 4, solving the optimal control problem of the control track of the spacecraft variable-geometry truss flexible mechanical arm represented by the linearized Riemannian sub-manifold by the spacecraft variable-geometry truss flexible mechanical arm controller.
Further, the step 1 specifically includes:
step 1.1, defining a trajectory planning equation based on manifold representation:
defining M as an n-dimensional manifold and having a tangent cluster TM, given an initial point on the manifold
An arbitrary point x on the manifold, specifying a time series of 0<t1<…<tLThe trajectory planning equation is as follows:
g in the equation (1)j: m → TM, j ═ 01The field of the class vector is then,
1, L, and pi(x(ti) 0 is the state constraint in the maneuver scenario, pLRepresenting constraints of the trajectory motion region;
in addition, the equation (1) also includes constraints under the Riemann metric:
step 1.2, providing an optimization control model of a spacecraft variable geometry truss flexible mechanical arm control track based on manifold representation:
wherein q is a spacecraft variable geometry truss flexible mechanical arm control track sequence,
q (t) ε Q is satisfied,
which represents a control constraint, is,
is C1The function of the class is a function of,
is based on a constant positive definite matrix
P ═ p, as a weighted norm ofa+wpbRepresenting a state dependent cost function paAnd state constraint penalty function pbThe sum, and the weight w is more than or equal to 1.
Further, the control model constructed in step 2 is an integral cost function and has dynamic and kinematic constraints.
Further, the optimal control model with the riemann sub-manifold constraint obtained in step 2 is obtained as follows: suppose M is
A closed Riemann sub-manifold, extending equation (2) to
Presence of C1Vector field
j＝1,...,m、C1Function(s)
And
l, then obtaining i ═ 1
On the basis of the said initialization procedure,
planning equation for control track of flexible mechanical arm of variable geometry truss of spacecraft on manifold
Then obtaining the optimal control model of the control track of the spacecraft variable geometry truss flexible mechanical arm with the Riemannian sub-manifold constraint
Further, the optimal control model obtained in step 2 also has kinematic constraints in equation (3).
Further, the process of constructing the model in the step 3 is to perform iteration by using the optimal control model of the linearized Riemannian sub-manifold constraint, and the optimal control model of the control track of the spacecraft variable geometry truss flexible mechanical arm of the linearized Riemannian sub-manifold constraint in the k +1 th iteration is
In the equation, assume that Q is convex and that the kth iteration has been performed, and
and
Pk＝Pa+wkPband h isk(v) Is a smooth approximation of max {0, v } arbitrarily, the function hk(v) Represents track state update and constraint, and is more than or equal to 0 and less than or equal to deltak≤△0，1≤w0≤wk≤wmax。
Further, the step 3 further comprises giving out dynamic constraints of the optimal control model of the spacecraft variable geometry truss flexible mechanical arm control track of the linearized Riemannian sub-manifold constraint:
further, in step 4, the problem of the optimal control of the space robot with the minimum energy is expressed as:
where r represents the space position of the spacecraft, v represents the displacement velocity, u represents the direction of the spacecraft and is represented using a quaternion, w is the angular velocity, manifold
Represents a quaternion, q1Denotes thrust, q2Representing torque.
Further, in the step 4, solving an optimal control problem of the spacecraft variable geometry truss flexible mechanical arm control track expressed by the linearized riemann submarginal manifold specifically includes:
that is, the original kinetic equation is equivalent to
And constrained into subsets
Further, in the step 4, based on a contraction mechanism in the riemann manifold optimization theory, the solution of the optimization control problem can be realized.
The structural characteristic of the flexible mechanical arm of the spacecraft Variable Geometry Truss is a Variable configuration mechanism (VGT), and the flexible mechanical arm consists of 5 VGT standard working units and a tail end mechanism. The VGT standard working unit is formed by connecting two octahedral link rod units in series, 9 nodes and 21 link rods, wherein only the middle layer is provided with an actuator, and the upper, lower and side surfaces of the octahedral link rod units are driven rods. The standard working unit is respectively composed of a driving rod, a driven rod, a main node and a driven node; the main node comprises a driving rod seat, a driving rod connecting plate, a driving rod end connecting bolt, a ball bearing, a U-shaped seat, a cross-shaped shaft connecting piece, a U-shaped driven rod connecting piece, a node bearing plate, a node end plate, a long shaft screw and a short shaft screw, wherein the driving rod seat is cylindrical, the driving rod connecting plate and the driving rod end connecting bolt are respectively connected on two mutually perpendicular planes of the driving rod seat parallel to the axis, and the driving rod is connected with the driving rod connecting plate; the node bearing plate is fixed on the driving rod seat on the opposite side parallel to the driving rod connecting plate; the top surface of the driving rod seat is sequentially connected with the node end plate, the ball bearing and the U-shaped seat and is connected with the cross shaft connecting piece through a flat head expansion nut; the cross shaft connecting piece is connected with the U-shaped driven rod connecting piece.
Furthermore, the long shaft screw and the short shaft screw are arranged on two sides of the cross shaft connecting piece.
Furthermore, the end effector of the spacecraft variable geometry truss flexible mechanical arm comprises a 2-degree-of-freedom gripper mechanism and a sensor, and the end effector is further provided with a vision and force sensing sensor.
Further, a spacecraft variable geometry truss flexible robot arm controller as claimed in claim 1, wherein said node end plate is further provided with a first sliding washer and a second sliding washer on both sides, respectively.
Further, a third sliding washer is arranged between the U-shaped seat and the flat head expansion nut.
Further, the end mechanism of the spacecraft variable geometry truss flexible mechanical arm comprises three active devices and an end effector, wherein the three active devices are connected with the end effector and the passive node of the VGT standard working unit to form a parallel mechanism.
The invention provides a spacecraft variable geometry truss flexible mechanical arm control track planning method based on Riemann sub-manifold representation and optimization aiming at the track planning problem under manifold constraint, and based on Riemann manifold optimization theory and method, and the spacecraft variable geometry truss flexible mechanical arm control track planning method is used for completing the fine control task of a spacecraft variable geometry truss flexible mechanical arm in a limited space, and lays a foundation for the fine control of an in-orbit service and maintenance system. In addition, the method provided by the invention can reduce the technical cost of the existing spacecraft, improve the planning efficiency and has extremely high application value. The trajectory planning method provided by the invention has convergence and feasibility, can solve the optimal control problem of the space robot expressed by Riemannian sub-manifold, and provides effective control trajectories for the applications of the space on-orbit service system in the limited space, such as fine control and the like. The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
Fig. 1 is a schematic view illustrating a spacecraft variable geometry truss flexible manipulator control trajectory planning according to a preferred embodiment of the present invention;
wherein the content of the first and second substances,
-an initial point of the movement of the object,
-finding a point on the solved trajectory;
FIG. 2 is a flowchart illustrating the spacecraft variable geometry truss flexible robotic arm maneuvering trajectory planning process of the present invention in accordance with a preferred embodiment of the present invention;
FIG. 3 is a main node structure of a spacecraft variable geometry truss flexible manipulator structure mechanism according to a preferred embodiment of the invention;
the device comprises a driving rod seat 1, a driving rod connecting plate 2, a positioning screw 3, a U-shaped seat 4, a cross shaft connecting piece 5, a long shaft screw 6, a short shaft screw 7, a driven rod connecting piece 8-U, a node bearing plate 9, a node end plate 10, a flat head expansion nut 11, a driving rod 12, a driving rod end connecting bolt 13, a ball bearing 14, a first sliding washer 15, a second sliding washer 16, a third sliding washer 17, a thin screw 18, a snap ring 19 and a sliding bearing 20.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 2, the embodiment provides a spacecraft manipulator trajectory planning method based on riemann manifold representation and optimization, and after the initial point and the control variables are input, the following steps are performed:
step 1, constructing a spacecraft variable geometry truss flexible mechanical arm control track optimization control model based on manifold representation;
step 2, constructing an optimal control model of a spacecraft variable geometry truss flexible mechanical arm control track with Riemann sub-manifold constraint by a spacecraft variable geometry truss flexible mechanical arm controller;
step 3, the spacecraft variable geometry truss flexible mechanical arm controller executes a spacecraft variable geometry truss flexible mechanical arm control track optimal control model of linearized Riemannian sub-manifold constraint;
and 4, solving the optimal control problem of the control track of the spacecraft variable-geometry truss flexible mechanical arm represented by the linearized Riemannian sub-manifold by the spacecraft variable-geometry truss flexible mechanical arm controller.
Firstly, defining a planning equation of the control track of the spacecraft variable geometry truss flexible mechanical arm on the manifold: considering an initial point
(M is an n-dimensional manifold and has a corresponding cutting constellation TM; the cutting space of the manifold M at x e M is defined as TxM; for any x e M, the smooth vector field of manifold M is a mapping g M → TM and g (x) e TxM), and smooth mapping
1., L. Wherein p isiRepresenting state constraints and used to manipulate the modeling of the task. In addition, pLRepresenting the constraints of the area of the trajectory movement. Furthermore, there are constraints under the Riemann metric:
given time series 0<t1<…<tLThe planning equation of the control track of the flexible mechanical arm of the variable geometry truss of the spacecraft defined by the invention
Wherein, gjM → TM, j 0, M is C1A vector field of class. p is a radical ofi(x(ti) 0 is a state constraint in the maneuver scenario. On the basis, the invention provides an optimization control model of a spacecraft variable geometry truss flexible mechanical arm control track based on manifold representation
The model is an integral cost function and has dynamic and kinematic constraints. Spacecraft variable geometry truss flexible mechanical arm control track sequence
Q (t) ε Q is satisfied.
Representing a control constraint. In addition to this, the present invention is,
is C1A class function.
Is based on a constant positive definite matrix
Weighted norm of (2). Function p ═ pa+wpbRepresenting a state-dependent cost function paAnd state constraint penalty function pbAnd (4) summing. Wherein, the weight w is more than or equal to 1.
However, trajectory planning for robotic arm steering systems of spacecraft under manifold constraints is generally a subset of the euclidean space. Therefore, the present invention forms the Riemann sub-manifold space by the geometric embedding of step 2. I.e. using a mapping
And linearized in the corresponding space.
And step 2, providing an optimal control model of the control track of the spacecraft variable geometry truss flexible mechanical arm with Riemannian sub-manifold constraint. The idea of this model is: suppose M is
A closed Riemann sub-manifold, extending equation (2) to
Presence of C1Vector field
j＝1,...,m、C1Function(s)
And
1., L. Thus the invention has Gj|M＝gj,
GMG. Based on the initialization process, the invention provides
Planning equation for control track of flexible mechanical arm of variable geometry truss of spacecraft on manifold
Then the optimal control model of the control track of the variable-geometry truss flexible mechanical arm of the spacecraft with the Riemannian sub-manifold constraint is
And has kinematic constraints in equation (3).
And 3, executing a linearized Riemannian sub-manifold constrained spacecraft variable geometry truss flexible mechanical arm control track optimal control model by the spacecraft variable geometry truss flexible mechanical arm controller. Assuming that Q is convex, the optimal control model for the control track of the spacecraft variable geometry truss flexible mechanical arm iteratively linearized by Riemannian sub-manifold constraint provided by the invention assumes that the kth iteration is performed, and then continuous control is performedCurve of (2)
And
then, the optimal control model of the control track of the flexible mechanical arm of the spacecraft with the linearized Riemannian sub-manifold constraint at the k +1 th iteration
Wherein, Pk＝Pa+wkPbAnd h isk(v) Is a smooth approximation of any max 0, v. Function hk(v) For updating state trajectories and constraints, and also having a delta of 0 ≦ deltak≤△0And weight 1 is not more than w0≤wk≤wmax. Finally, the invention provides the dynamic constraints of the spacecraft variable geometry truss flexible mechanical arm control track optimal control model with the linearized Riemannian sub-manifold constraints:
and with similar constraints.
And 4, solving the optimal control problem of the control track of the spacecraft variable-geometry truss flexible mechanical arm represented by the linearized Riemannian sub-manifold by the spacecraft variable-geometry truss flexible mechanical arm controller. Then, in the microgravity environment, the problem of optimal control of the minimum energy of the spacecraft is as follows:
where r represents the space position of the spacecraft, v represents the displacement velocity, and u represents the direction of the spacecraft and is represented using quaternions. w is the angular velocity. Therein, manifold
Representing a quaternion. Thrust q is used in the whole control process1And torque q2And (4) showing. Therefore, based on the mode of the steps 1-3, the Riemannian sub-manifold geometry and the characteristics of the Riemannian sub-manifold are fully considered, and the problem of optimal control of the control track of the flexible mechanical arm of the spacecraft variable geometry truss represented by the linearized Riemannian sub-manifold is solved, and the method specifically comprises the following steps:
that is, the original kinetic equation is equivalent to
And constrained into subsets
Based on a contraction mechanism in the Riemann manifold optimization theory, the optimization control problem can be solved.
As shown in fig. 1, a schematic diagram of a trajectory planning of a space robot according to a preferred embodiment of the present invention is shown, from an initial point,
iteration is carried out to obtain points on the track
As shown in fig. 3, the embodiment is implemented on the premise of a spacecraft variable geometry truss flexible mechanical arm and a controller thereof, and a detailed implementation and a specific operation process are given. The flexible mechanical arm of the spacecraft Variable Geometry Truss has the structural characteristic of a Variable configuration mechanism (VGT), and consists of 5 VGT standard working units and end mechanisms. In addition, the standard working unit is formed by connecting two octahedral link rod units in series, 9 nodes and 21 link rods, only an active device is arranged in the middle layer, and the upper, lower and side surfaces of the standard working unit are driven rods. The standard working unit is composed of a driving rod, a driven rod, a main node and a driven node. The master node structure comprises a master rod seat 1, a master rod connecting plate 2, a positioning screw 3, a U-shaped seat 4, a cross shaft connecting piece 5, a long shaft screw 6, a short shaft screw 7, a U-shaped passive rod connecting piece 8, a node bearing plate 9, a node end plate 10, a flat head expansion nut 11, a master rod 12, a master rod end connecting bolt 13, a ball bearing 14, a first sliding washer 15, a second sliding washer 16, a third sliding washer 17, a fine screw 18, a snap ring 19 and a sliding bearing 20, and is shown in fig. 3. The flexible arm structure mechanism is a flexible arm main body, is formed by extending and repeating standard variable geometry octahedral truss units, and mainly comprises a passive rod, an active rod, a main node and a passive node, wherein the active rod is a core actuator, and the actuator is a power and control element.
Under the condition of not losing precision, the spacecraft variable geometry truss flexible mechanical arm controller controls the power supply and control information of the active machine in real time based on the optimal control model of the linearized Riemannian sub-manifold constraint and communicates with a core computer of a visual servo large closed-loop control system. The accessory connector mainly comprises a flexible arm connected with the controller and the communication cable, and a power supply of the active device connected with the communication cable.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (5)
1. A spacecraft mechanical arm track planning method based on Riemannian manifold representation and optimization is characterized by comprising the following steps:
step 1, constructing a spacecraft variable geometry truss flexible mechanical arm control track optimization control model based on manifold representation; the method specifically comprises the following steps:
step 1.1, defining a trajectory planning equation based on manifold representation:
defining M as an n-dimensional manifold and having a tangent cluster TM, given an initial point on the manifold
An arbitrary point x on the manifold specifies a time sequence 0 < t1＜…＜tLThe trajectory planning equation is as follows:
g in the equation (1)jM → TM, j 0, …, M is C1The field of the class vector is then,
and p isi(x(ti) 0 is the state constraint in the maneuver scenario, pLRepresenting constraints of the trajectory motion region;
in addition, the equation (1) also includes constraints under the Riemann metric:
step 1.2, providing an optimization control model of a spacecraft variable geometry truss flexible mechanical arm control track based on manifold representation:
in the formula, q is a spacecraft variable geometry truss flexible mechanical arm control track sequence, and q belongs to U∞Q (t) ε Q is satisfied,
which represents a control constraint, is,
is C1The function of the class is a function of,
is based on a constant positive definite matrix
P ═ p, as a weighted norm ofa+wpbRepresenting a state dependent cost function paAnd state constraint penalty function pbThe sum is more than or equal to 1;
step 2, constructing an optimal control model of a spacecraft variable geometry truss flexible mechanical arm control track with Riemann sub-manifold constraint by a spacecraft variable geometry truss flexible mechanical arm controller; the optimal control model with the Riemannian sub-manifold constraint given in the step 2 is obtained through the following steps:
suppose M is
A closed Riemann sub-manifold, extending equation (2) to
Presence of C1Vector field
C1Function(s)
And
thus obtaining Gj|M＝gj,Pj|M＝pi,
G|MThe process of, based on the initialization procedure,
planning equation for control track of flexible mechanical arm of variable geometry truss of spacecraft on manifold
Then obtaining the optimal control model of the control track of the spacecraft variable geometry truss flexible mechanical arm with the Riemannian sub-manifold constraint
Step 3, the spacecraft variable geometry truss flexible mechanical arm controller executes a spacecraft variable geometry truss flexible mechanical arm control track optimal control model of linearized Riemannian sub-manifold constraint; the process of constructing the model in the step 3 is to use the optimal control model of the linearized Riemannian sub-manifold constraint for iteration, and the optimal control model of the control track of the flexible mechanical arm of the spacecraft variable geometry truss with the linearized Riemannian sub-manifold constraint in the (k + 1) th iteration is
In the equation, assume that Q is convex and that the kth iteration has been performed, and
and
Pk＝Pa+wkPband h isk(v) Is a smooth approximation of max {0, v } arbitrarily, the function hk(v) Represents track state update and constraint, and is more than or equal to 0 and less than or equal to deltak≤△0，1≤w0≤wk≤wmax；
Step 4, solving an optimal control problem of the control track of the spacecraft variable-geometry truss flexible mechanical arm represented by the linearized Riemannian sub-manifold by using a spacecraft variable-geometry truss flexible mechanical arm controller; in the step 4, the optimal control problem of the minimum energy of the space robot is expressed as follows:
where r represents the space position of the spacecraft, v represents the displacement velocity, u represents the direction of the spacecraft and is represented using a quaternion, w is the angular velocity, manifold
Represents a quaternion, q1Denotes thrust, q2Represents torque;
in the step 4, the optimal control problem of the spacecraft variable geometry truss flexible mechanical arm control track represented by the linearized Riemannian sub-manifold is solved, and the method specifically comprises the following steps:
that is, the original kinetic equation is equivalent to
And constrained into subsets
2. The method for planning a robot arm trajectory based on Riemannian sub-manifold representation and optimization of a spacecraft as claimed in claim 1, wherein the control model constructed in step 2 is an integral cost function and has dynamics and kinematics constraints.
3. The Riemannian sub-manifold representation and optimization-based spacecraft robotic arm trajectory planning method of claim 1, wherein said optimal control model obtained in said step 2 further has kinematic constraints in said equation (3).
4. The Riemannian sub-manifold representation and optimization-based spacecraft manipulator trajectory planning method of claim 1, wherein the step 3 further comprises giving the kinematic constraints of the spacecraft variable geometry truss flexible manipulator manipulation trajectory optimal control model of the linearized Riemannian sub-manifold constraint:
5. the method for spacecraft robotic arm trajectory planning based on riemann manifold representation and optimization of claim 1, wherein in step 4, the solution of the optimization control problem is achieved based on a contraction mechanism in riemann manifold optimization theory.
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