视觉导引受限下空间绳系机器人最优逼近控制
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摘要
针对空间绳系机器人对目标逼近过程中单目视觉视线角约束和导航信息不全问题,首先建立空间绳系机器人系统动力学模型。然后考虑抓捕器视线角约束,采用高斯伪谱法对空间绳系机器人逼近任务姿轨轨迹进行一体规划。同时设计无需相对目标距离的闭环控制器实现对空间绳系机器人最优姿轨轨迹进行跟踪控制。仿真结果表明,该方案能够克服视觉导引受限的影响,实现空间绳系机器人对位姿最优轨迹的精确跟踪。
Aiming to the problem of the incomplete navigation information and constraint of line-of-sight angle during the target approaching phase for a tethered space robot, the dynamic model of the tethered space robot is established. Considering the constraints of the control inputs and the field of view of the gripper, the optimal approaching trajectory of the tethered space robot to the target is designed using the Gaussian pseudospectral method. A closed loop optimal control scheme is presented without using the relative distance between the gripper and the target. The simulation results of the closed-loop control scheme show that the proposed scheme can overcome the influence of the constraint of line-of-sight angle and realize the accurate position and attitude tracking of the optimal trajectory.
Aiming to the problem of the incomplete navigation information and constraint of line-of-sight angle during the target approaching phase for a tethered space robot, the dynamic model of the tethered space robot is established. Considering the constraints of the control inputs and the field of view of the gripper, the optimal approaching trajectory of the tethered space robot to the target is designed using the Gaussian pseudospectral method. A closed loop optimal control scheme is presented without using the relative distance between the gripper and the target. The simulation results of the closed-loop control scheme show that the proposed scheme can overcome the influence of the constraint of line-of-sight angle and realize the accurate position and attitude tracking of the optimal trajectory.
引文
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[21] 黄攀峰,胡永新,王东科,等.空间绳系机器人目标抓捕鲁棒自适应控制器设计[J].自动化学报,2017,43(4):538-547.[Huang Pan-feng,Hu Yong-xin,Wang Dong-ke,et al.Capturing target for tethered space robot using robust adaptive controller[J].Acta Automatica Sinica,2017,43(4):538-547.]
[22] Wang D K,Huang P F,Cai J,et al.Coordinated control of tethered space robot using mobile tether attachment point in approaching phase[J].Advances in Space Research,2014,54(6):1077-1091.
[23] Zhang Y Z,Huang P F,Meng Z J,et al.Precise angles-only navigation for noncooperative proximity operation with applicationto tethered space robot[J].IEEE Transactions on Control Systems Technology,2018 (99):1-12.
[24] Hughes P C.Spacecraft attitude dynamics [M].New Jersey:John Wiley & Sons,Inc,1986.
[25] Soltani M,Keshmiri M,Misra A K.Dynamic analysis and trajectory tracking of a tethered space robot[J].Acta Astro-nautica,2016,128:335-342.
[26] Betts J T.Survey of numerical methods for trajectory optimization[J].Journal of Guidance,Control,and Dynamics,1998,21(2):193-207.
[27] Chu X Y,Zhang J R,Lu S,et al.Optimised collision avoidance for an ultra-close rendezvous with a failed satellite based on the gauss pseudospectral method[J].Acta Astronautica,2016,128:363-376.
[28] 张志国,余梦伦,耿光有,等.应用伪谱法的运载火箭在线制导方法研究[J].宇航学报,2017,38(3):262-269.[Zhang Zhi-guo,Yu Meng-lun,Geng Guang-you,et al.Research on application of pseudo-spectral method in online guidance method for a launch vehicle[J].Journal of Astro-nautics,2017,38(3):262-269.]
[29] 白瑞光,孙鑫,陈秋双,等.基于Gauss伪谱法的多UAV协同航迹规划[J].宇航学报,2014,35(9):1022-1029.[Bai Rui-guang,Sun Xin,Chen Qiu-shuang,et al.Multiple UAV cooperative trajectory planning based on gauss pseudospectral method[J].Journal of Astronautics,2014,35(9):1022-1029.]
[2] Huang P F,Zhang F,Cai J,et al.Dexterous tethered space robot:design,measurement,control and experiment[J].IEEE Transactions on Aerospace and Electronic Systems,2017,53(6):1452-1468.
[3] Zhang F,Huang P F.Releasing dynamics and stability control of maneuverable tethered space net[J].IEEE/ASME Transactions on Mechatronics,2017,22(2):983-993.
[4] Meng Z J,Huang P F,Guo J.Approach modeling and control of an autonomous maneuverable space net[J].IEEE Transactions on Aerospace and Electronic Systems,2017,53(6):2651-2661.
[5] Huang P F,Wang D K,Zhang F,et al.Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether[J].International Journal Robust Nonlinear Control,2017,27(16):2824-2841.
[6] Huang P F,Wang D K,Meng Z J,et al.Adaptive postcapture backstepping control for tumbling tethered space robot-target combination[J].Journal of Guidance,Control and Dynamics,2016,39(1):150-156.
[7] 黄攀峰,孟中杰.空间绳系机器人技术[M].北京:中国宇航出版社,2014:91-139.
[8] Yu B S,Jin D P,Wen H.Analytical deployment control law for a flexible tethered satellite system[J].Aerospace Science and Technology,2017,66:294-303.
[9] Qi R,Misra A K,Zuo Z Y.Active debris removal using double-tethered space-tug system[J].Journal of Guidance,Control and Dynamics,2016,40(3):722-730.
[10] Zhang J R,Yang K Y,Qi R.Dynamics and offset control of tethered space-tug system[J].Acta Astronautica,2018,142:232-252.
[11] William J O,Deborah J H.Detumbling of space debris by a net and elastic tether[J].Journal of Guidance,Control and Dynamics,2017,40(7):1829-1836.
[12] Lu Y B,Huang P F,Meng Z J,et al.Finite time attitude takeover control for combination via tethered space robot[J].Acta Astronautica,2017,136:9-21.
[13] Zhai G,Zheng H M,Zhang B.Observer-based control for the platform of a tethered space robot[J].Chinese Journal of Aeronautics,2018:1-10.
[14] Chu Z Y,Di J N,Cui J.Analysis of the effect of attachment point bias during large space debris removal using a tethered space tug[J].Acta Astronautica,2017,139:34-41.
[15] Wen H,Zhu Z H,Jin D P,et al.Constrained tension control of a tethered space-tug system with only length measurement[J].Acta Astronautica,2016,119:110-117.
[16] Wang B H,Meng Z J,Huang P F.Attitude control of towed space debris using only tether[J].Acta Astronautica,2017,138:152-167.
[17] Chen L,Huang P F,Cai J,et al.A non-cooperative target grasping position prediction model for tethered space robot[J].Aerospace Science and Technology,2016,58:571-581.
[18] Hu Y X,Huang P F,Meng Z J,et al.Approaching control for tethered space robot based on disturbance observer using super twisting law[J].Advances in Space Research,2018,61(9):2344-2351.
[19] 孟中杰,蔡佳,胡仄虹,等.空间绳系机器人超近距视觉伺服控制方法[J].宇航学报,2015,36(1):40-46.[Meng Zhong-jie,Cai Jia,Hu Ze-hong,et al.A short-distance visual servo control method for the tethered space robot system[J].Journal of Astronautics,2015,36(1):40-46.]
[20] Botta E M,Sharf I,Misra A K.Contact dynamics modeling and simulation of tether nets for space-debris capture[J].Journal of Guidance,Control,and Dynamics,2016:110-123.
[21] 黄攀峰,胡永新,王东科,等.空间绳系机器人目标抓捕鲁棒自适应控制器设计[J].自动化学报,2017,43(4):538-547.[Huang Pan-feng,Hu Yong-xin,Wang Dong-ke,et al.Capturing target for tethered space robot using robust adaptive controller[J].Acta Automatica Sinica,2017,43(4):538-547.]
[22] Wang D K,Huang P F,Cai J,et al.Coordinated control of tethered space robot using mobile tether attachment point in approaching phase[J].Advances in Space Research,2014,54(6):1077-1091.
[23] Zhang Y Z,Huang P F,Meng Z J,et al.Precise angles-only navigation for noncooperative proximity operation with applicationto tethered space robot[J].IEEE Transactions on Control Systems Technology,2018 (99):1-12.
[24] Hughes P C.Spacecraft attitude dynamics [M].New Jersey:John Wiley & Sons,Inc,1986.
[25] Soltani M,Keshmiri M,Misra A K.Dynamic analysis and trajectory tracking of a tethered space robot[J].Acta Astro-nautica,2016,128:335-342.
[26] Betts J T.Survey of numerical methods for trajectory optimization[J].Journal of Guidance,Control,and Dynamics,1998,21(2):193-207.
[27] Chu X Y,Zhang J R,Lu S,et al.Optimised collision avoidance for an ultra-close rendezvous with a failed satellite based on the gauss pseudospectral method[J].Acta Astronautica,2016,128:363-376.
[28] 张志国,余梦伦,耿光有,等.应用伪谱法的运载火箭在线制导方法研究[J].宇航学报,2017,38(3):262-269.[Zhang Zhi-guo,Yu Meng-lun,Geng Guang-you,et al.Research on application of pseudo-spectral method in online guidance method for a launch vehicle[J].Journal of Astro-nautics,2017,38(3):262-269.]
[29] 白瑞光,孙鑫,陈秋双,等.基于Gauss伪谱法的多UAV协同航迹规划[J].宇航学报,2014,35(9):1022-1029.[Bai Rui-guang,Sun Xin,Chen Qiu-shuang,et al.Multiple UAV cooperative trajectory planning based on gauss pseudospectral method[J].Journal of Astronautics,2014,35(9):1022-1029.]
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