宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (9): 1150-1161.doi: 10.3873/j.issn.1000-1328.2021.09.010

• 制导、导航、控制与电子 • 上一篇    下一篇

基于时延估计的空间机器人无模型姿态解耦控制

张鑫，刘金国   

  1. 1. 中国科学院沈阳自动化研究所机器人学国家重点实验室，沈阳 110016；2.中国科学院机器人与智能制造创新研究院，沈阳 110169
  • 收稿日期:2020-10-12 修回日期:2021-01-13 出版日期:2021-09-15 发布日期:2021-09-15
  • 基金资助:
    国家重点研发计划（2018YFB1304600）;国家自然科学基金(62103407);国家博士后基金（2020M670814）; 机器人学国家重点实验室项目（Y91Z0303）;辽宁省自然科学基金（2020 MS 033）

Model free Attitude Decoupling Control of Space Robots Based on Time delay Estimation

ZHANG Xin, LIU Jin guo   

  1. 1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China

  • Received:2020-10-12 Revised:2021-01-13 Online:2021-09-15 Published:2021-09-15

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摘要： 针对空间机器人的基—臂姿态耦合问题，提出一种基于时延估计(TDE)的无模型解耦控制方法，以实现机械臂与基体的协调运动。首先，采用复合刚体动力学建模方法建立系统动力学模型。然后，分析动力学耦合特性，从多输入多输出(MIMO)角度出发，设计基于时延估计的无模型解耦控制器，实现机械臂关节轨迹精准跟踪与基体姿态稳定控制。最后，采用数值仿真方式，对比经典的基于模型解耦控制方法，即计算力矩控制(CTC)，结果表明基于时延估计的无模型控制方法不仅效率更高，且解耦效果更好。


关键词: 空间机器人, 基—臂姿态耦合, 时延估计(TDE), 复合刚体动力学建模方法, 无模型解耦控制器

Abstract: For addressing the manipulator base attitude coupling issue of space robots, a model free decoupling approach based on time delay estimation (TDE) is proposed to achieve the coordination control between the manipulator and the base. Firstly, the dynamics of the system is deduced by the composite rigid dynamics modelling approach. Then, by analyzing the dynamic coupling property, the model free decoupling control based on TDE is designed from the multi input multi output (MIMO) viewpoint to realize the high precision tracking control of the manipulator and attitude stability control of the base. Finally, comparing the proposed approach with the classical model based decoupling approach, namely, computed torque control (CTC), by numerical simulation, the results indicate that the TDE control approach is more efficient and has a better decoupling performance.


Key words: Space robots, Manipulator base attitude coupling, Time delay estimation (TDE), Composite rigid dynamics modelling approach, Model free decoupling controller

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