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逼近过程的协调控制一直是空间绳系机器人系统研究的重点,为了弥补传统方法在控制精度和工质消耗等方面的不足,首先,基于Hamilton原理建立了一种考虑系绳分布质量和作用在系绳上分布力的新型位姿耦合动力学模型;然后,使用hp自适应伪谱算法求解了逼近过程中最省工质的轨迹和与之对应的理想输入;最后,通过PD控制器对系统真实状态进行调节使其跟踪上规划的理想轨迹,从而实现了对空间绳系机器人系统位置和姿态的闭环一体化控制。仿真结果表明:在存在0.1m初始长度偏差和5°初始角度偏差的情况下,设计的控制系统能够实现对空间绳系机器人逼近过程的有效控制;与传统模型相比,新型位姿耦合模型能够显著提高系统的控制精度;与位姿分离控制方式相比,一体化控制方式不仅能够避免产生过大的姿态扰动力矩,而且能够大幅减少系统的工质消耗。
The coordination control of approximation process has always been the focus of research on space Rope system. In order to make up for the shortcomings of traditional methods such as control precision and working fluid consumption, firstly, based on Hamilton principle, Then the hp adaptive pseudospectral algorithm is used to solve the trajectory of the most working medium in the process of approximation and the corresponding ideal input. Finally, the PD controller is used to verify the system real The state is adjusted to track the planned ideal trajectory, so as to realize the closed-loop integrated control of the position and attitude of the space rover robot system. The simulation results show that the proposed control system can effectively control the approach process of the space rover robot in the presence of the initial length deviation of 0.1 m and the initial angular deviation of 5 °. Compared with the traditional model, the new position-to- Which significantly improves the control precision of the system. Compared with the position and attitude control, the integrated control method can not only avoid the excessive attitude disturbance torque but also greatly reduce the system working fluid consumption.