中国空间科学技术

中国空间科学技术 ›› 2024, Vol. 44 ›› Issue (1): 65-74.doi: 10.16708/j.cnki.1000-758X.2024.0007

• 论文 • 上一篇    下一篇

舱外航天服下肢关节阻力矩迟滞特性研究与建模分析

李照阳，戴跃洪，王君尧   

  1. 1.电子科技大学 航空航天学院，成都611731
    2.飞行器集群智能感知与协同控制四川省重点实验室，成都611731
  • 出版日期:2024-02-25 发布日期:2024-02-01

Research and modeling analysis of joint resistant torque hysteresis characteristics of lower limbs in extravehicular spacesuit

LI Zhaoyang，DAI Yuehong，WANG Junyao   

  1. 1.School of Aeronautics and Astronautics，University of Electronic Science and Technology of China，
    Chengdu 611731，China
    2.Key Laboratory of Aircraft Swarm Intelligent Sensing and Cooperative Control of Sichuan Province，
    Chengdu 611731，China
  • Published:2024-02-25 Online:2024-02-01

PDF (PC)

120

摘要： 舱外航天服关节阻力矩是评价航天服工效性能以及规划航天员出舱作业任务的重要指标。为研究航天服关节阻力矩的迟滞特性，首先总结了关节阻力矩的产生原因，得到了下肢关节阻力矩与运动角度之间的迟滞关系。其次，采用了Jiles-Atherton模型去描述关节阻力矩的迟滞特性，同时在实际关节阻力矩数据的基础上，提出了一种模拟退火-粒子群优化算法去辨识Jiles-Atherton模型参数。最后，与改进型粒子群算法相比，所设计的模拟退火-粒子群优化算法收敛速度分别提高了15.58%和10.91%，计算精度提高了29.31%和11.77%，且对未知关节阻力矩预测误差分别减小了10.89%/25.73%和0.96%/22.2%，验证了设计算法的有效性。另外，根据建模误差特点设计了误差补偿函数，所辨识的Jiles-Atherton模型在误差补偿后对未知关节阻力矩预测误差进一步减小了46.49%/10.95%。计算所得模型可为后续舱外航天服关节助力技术研究提供理论依据。

关键词: 舱外航天服, 关节阻力矩, 迟滞特性, Jiles-Atherton模型, 模拟退火算法, 粒子群优化算法

Abstract:  The joint resistant torque of extravehicular spacesuit is an important index to evaluate the ergonomic performance of spacesuit and to plan astronauts′ extravehicular mission.In order to study the hysteresis characteristics of spacesuits′ joint resistant torque，firstly，the causes of the joint resistant torque were summarized，and the hysteresis relationship between the joint resistant torque and the motion angle of lower limbs was obtained.Secondly，the Jiles-Atherton model was adopted to describe the hysteresis characteristics of the joint resistant torque.Meanwhile，based on the actual joint resistant torque data，the SA-PSO（simulated annealing-particle swarm optimization）algorithm was proposed to identify the Jiles-Atherton model parameters.Finally，compared with the modified particle swarm optimization algorithm，the convergence rate of the designed SA-PSO algorithm was improved by 15.58% and 10.91%，the computational accuracy was improved by 29.31% and 11.77%，and the prediction errors of the unknown joint resistant torque were reduced by 10.89%/25.73% and 0.96%/22.2%，respectively，which verified the effectiveness of the designed algorithm.In addition，an error compensation function was designed according to the characteristics of modeling errors，and the identified Jiles-Atherton model further reduced the prediction errors by 46.49%/10.95% after error compensation.The calculated model can serve as a theoretical basis for the subsequent research on joint-assisted technology of extravehicular spacesuit.

Key words: extravehicular spacesuit, joint resistant torque, hysteresis characteristics, Jiles-Atherton model, simulated annealing algorithm, particle swarm optimization algorithm