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为应对日益复杂和多样的在轨服务需求,本文提出利用空间细胞机器人实施对非合作目标的接管控制.针对非合作目标接管控制中的惯性参数辨识问题,考虑到常用的递推最小二乘法依赖中心节点及计算量过大等不足,提出了一种适用于空间细胞机器人系统的交互式参数辨识算法,建立了质量、质心位置和惯性张量等惯性参数的辨识模型,利用细胞机器人之间的少量数据交互实现分布式和异步式的参数辨识.仿真结果表明,算法能够实现辨识结果的收敛性和一致性,辨识精度较高.最后分析了噪声、链路断开、拓扑结构和交互策略等因素对算法收敛性和一致性的影响,结果表明算法在噪声和链路断开等情况下仍能保证辨识结果的有效性.同时通过仿真分析验证了异步交互策略的优越性.
In order to deal with the increasingly complex and diverse on-orbit service needs, this paper proposes to implement the control of non-cooperative objectives using space-borne robots.In view of the identification of inertial parameters in non-cooperative target takeover control, considering the commonly used recursive least square method An algorithm for interactive parameter identification which is suitable for the space-borne robot system is proposed. An identification model of inertial parameters such as mass, centroid position and inertial tensor is established. By using the interaction between the cellular robots A small amount of data interaction to achieve distributed and asynchronous parameter identification.The simulation results show that the algorithm can achieve the convergence and consistency of identification results, the identification accuracy is higher.At last, the paper analyzes the noise, link disconnection, topology and interaction strategy The results show that the algorithm can still guarantee the validity of the identification results under the conditions of noise and link disconnection, and the superiority of asynchronous interaction strategy is verified through simulation analysis.