FSTSMC Compliance Control for Dual-Arm Space Robot with SDBD Capture Satellite Operation

IF 1.9 4区 工程技术 Q3 ENGINEERING, MECHANICAL Journal of Computational and Nonlinear Dynamics Pub Date : 2023-04-06 DOI:10.1115/1.4062268
Zhu An, Haiping Ai, Chen Li
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Abstract

A space robot inevitably impacts a satellite in a capture operation. If its fragile joints are not protected, they may be damaged, resulting in failure of the capture operation. Thus, a spring damper buffer device (SDBD) is added between the joint motors and manipulators to absorb the impact energy, and provide a compliance strategy matched with the SDBD for stable control of the hybrid system. The dynamic modes of the dual-arm space robot open-loop system and target satellite system are established by the Lagrange function before capture. From the momentum theorem, velocity constraints, closed-chain geometric constraints, and Newton?s third law, the closedchain dynamic model of the hybrid system after capture is obtained, and the impact effect and impact force are calculated. For stable control of the hybrid system while limiting joint? impact torque within the safe range, an adaptive fractional-order super-twisting sliding mode compliance control strategy matching the SDBD is proposed. It can effectively improve the fast convergence and trajectory tracking performance of the system whose velocity and acceleration cannot be measured. The stability of the hybrid system is demonstrated by the Lyapunov theorem, and the anti-impact performance of the SDBD and the effectiveness of the compliance strategy are demonstrated through numerical simulation.
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双臂空间机器人SDBD捕获卫星的FSTSMC柔性控制
太空机器人在捕获行动中不可避免地会撞击卫星。如果不保护其脆弱关节,可能会损坏其脆弱关节,导致捕获操作失败。为此,在关节电机和机械手之间增加弹簧阻尼缓冲装置(SDBD)来吸收冲击能量,并提供与SDBD相匹配的柔度策略,实现混合动力系统的稳定控制。利用捕获前的拉格朗日函数建立双臂空间机器人开环系统和目标卫星系统的动力学模型。从动量定理,速度约束,闭链几何约束,和牛顿?根据第三定律,建立了捕获后混合系统的闭链动力学模型,并计算了碰撞效应和冲击力。在限制关节的同时稳定控制混合动力系统?在安全范围内,提出了一种与SDBD相匹配的自适应分数阶超扭转滑模柔化控制策略。它可以有效地改善速度和加速度无法测量的系统的快速收敛和轨迹跟踪性能。利用Lyapunov定理证明了混合系统的稳定性,并通过数值仿真验证了SDBD的抗冲击性能和柔化策略的有效性。
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来源期刊
CiteScore
4.00
自引率
10.00%
发文量
72
审稿时长
6-12 weeks
期刊介绍: The purpose of the Journal of Computational and Nonlinear Dynamics is to provide a medium for rapid dissemination of original research results in theoretical as well as applied computational and nonlinear dynamics. The journal serves as a forum for the exchange of new ideas and applications in computational, rigid and flexible multi-body system dynamics and all aspects (analytical, numerical, and experimental) of dynamics associated with nonlinear systems. The broad scope of the journal encompasses all computational and nonlinear problems occurring in aeronautical, biological, electrical, mechanical, physical, and structural systems.
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