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分析漂浮基空间机械臂捕获目标受到的碰撞冲击影响效应及碰撞后的镇定控制.首先,建立空间机械臂多体系统的动力学模型.机械臂捕获目标过程所受的碰撞冲击将会引起不稳定运动,利用动量定理评估计算碰撞冲量对其运动状态的影响效应.而后,设计实时观测滑模补偿控制对受碰撞冲击后的不稳定空间机械臂系统进行镇定控制.最后,通过对空间机械臂捕获目标的碰撞冲击及镇定控制过程仿真,验证了控制算法的有效性.
This paper analyzes the effect of collision impact and the stabilization control after collision of the floating base space manipulator.Firstly, the dynamic model of the multi-body system of space manipulator is established.The collision of the manipulator to capture the target process will cause instability Motion, the influence of collision impulse on the motion state is evaluated by the momentum theorem.And then, the real-time observing sliding mode compensation control is designed to control the unstable space manipulator system after collision impact.Finally, by capturing the space manipulator The collision impact of the target and the stabilization control process simulation verify the effectiveness of the control algorithm.