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首页> 外文会议>IAF Space Systems Symposium;International Astronautical Congress >Active Disturbance Rejection Collision Avoidance Compliant Control Based on Passivity Theory of Space Robot with Compliant Mechanism Capture Spacecraft
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Active Disturbance Rejection Collision Avoidance Compliant Control Based on Passivity Theory of Space Robot with Compliant Mechanism Capture Spacecraft

机译：基于空间机器人的空间机器人的激活扰动抗冲击避免兼容互联控制，符合机制捕获航天器

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The collision avoidance compliant control for free-floating space robot on-orbit capture non-cooperative spacecraft is studied. For the reason, a compliant mechanism is mounted between the joint motor and manipulator. First of all, the dynamic models of the space robot and the spacecraft are obtained by using the Lagrange approach and Newton-Euler method. After that, based on the law of conservation of momentum and the law of force transfer, the integrated dynamic model of the combined system is derived. Finally, considering the post-capture unstable combined system, a passivity-based active disturbance rejection compliant control is proposed for post-capture combined system. The combined with a compliant mechanism control scheme proposed above can not only effectively absorb the impact energy generated by the on-orbit capture, but also timely open and close the joint motor when the impact energy is too large, which can avoid overload and damage of the joint motor. In addition, the control scheme uses the extended state observer to realize the dynamic estimation of the disturbance, and combine with passivity theory to compensate it. which can improve disturbance rejection ability by the impact effect of capture effectively. Numerical simulation verified the effectiveness of the proposed control scheme.
机译：研究了对自由浮动空间机器人捕获非合作宇宙飞船的碰撞避免兼容控制。因此，连接在关节电动机和操纵器之间的柔性机构。首先，通过使用拉格朗日方法和牛顿 - 欧拉方法获得空间机器人和航天器的动态模型。之后，基于势力守恒和武力传递定律，得到了组合系统的综合动态模型。最后，考虑到后捕获后的不稳定组合系统，提出了一种基于激活的主动干扰抑制符合控制，用于后捕获组合系统。与上面提出的柔顺机构控制方案的结合不仅可以有效地吸收由轨道捕获产生的冲击能量，而且在冲击能量太大时及时打开和关闭接头电机，这可以避免过载和损坏关节电机。另外，控制方案使用扩展状态观察者实现干扰的动态估计，并与被动理论相结合以补偿它。这可以通过有效捕获的影响效应来改善干扰抑制能力。数值模拟验证了所提出的控制方案的有效性。

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