中国空间科学技术

中国空间科学技术 ›› 2018, Vol. 38 ›› Issue (1): 54-62.doi: 10.16708/j.cnki.1000-758X.2018.0018

• 技术交流 • 上一篇    下一篇

考虑摩擦的空间抓捕过程碰撞动力学分析与控制

豆博1,2，岳晓奎1,2,*   

  1. 1. 西北工业大学航天飞行动力学技术国家级重点实验室，西安  710072
    2. 西北工业大学航天学院，西安  710072
  • 收稿日期:2017-03-16 接受日期:2018-02-02 出版日期:2018-02-25 发布日期:2020-02-12
  • 通讯作者: 岳晓奎(1970-),男,教授,xkyue@nwpu.edu.cn,研究方向为航天动力学与控制、相对导航、空间机动与在轨操作技术
  • 作者简介:豆博(1993-),男,硕士研究生,doubo@mail.nwpu.edu.cn,研究方向为航天动力学与在轨操作
  • 基金资助:
    国家自然科学基金(11172235)

Contact dynamics analysis and control of space capture considering friction#br#

DOU Bo1,2, YUE Xiaokui1,2,*#br#   

  1. 1. National Key Laboratory of Aerospace Flight Dynamics, Xi'an 710072, China
    2. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China
  • Received:2017-03-16 Accepted:2018-02-02 Published:2018-02-25 Online:2020-02-12

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摘要： 目前针对空间抓捕中的碰撞进行建模的方法中很少考虑摩擦因素。然而,摩擦作为碰撞过程中不可避免的现象,对碰撞动力学响应及整个空间抓捕任务有着不容忽视的影响。文章结合库伦摩擦理论和拉格朗日乘子法,建立了同时兼顾滑动和粘滞状态的摩擦模型,然后将求解到的摩擦力与碰撞力进行矢量合成,作为对碰撞模型的修正。另外,针对碰撞过程对机器人姿态产生的干扰,利用反
馈线性化设计了解耦控制器对基座姿态漂移进行稳定控制。数值仿真采用一个平面2灢DOF空间机器人,利用动量和动量矩守恒定理验证了动力学模型的正确性,同时基座姿态控制结果收敛说明了控制器的有效性。

关键词: 空间抓捕, 碰撞动力学, Hertz接触理论, 库伦摩擦理论, 拉格朗日乘子法, 控制器设计

Abstract:

Recently, there are a lot of researches for the contact of space capture, but the effect of friction is rarely considered. However, as an inevitable phenomenon in capture the friction has huge influence on the contact dynamics and the space capture missions. Combined with the advantages of the Coulomb dry friction theory and the Lagrange multiplier method, a new friction model considering both sliding and viscous states was established, and then the solution to the friction and contact force vector was combined to correct the contact model. In addition, regarding the influence of contact on the base of the space robot with the method of feedback linearization, a feedback decoupling controller was designed to control the base. A planar 2-DOF space robot was simulated to demonstrate the effectiveness of the proposed model and the control method. The results verify the dynamic model by linear and angular momentum theory, and the attitude of the base showed the effectiveness of the controller.

Key words:

space capture, contact dynamics, Hertz contact theory, Coulomb dry friction theory, Lagrange multiplier method, controller design