Design of the Gravity Compensation Control System in the Vertical Direction on the Ground for Space Manipulator
XU Yongli1,2, LI Xiaonan1,2,3, LIU Yong1,2, YANG Mingyi1,2, LIU Mingyang1,2
1. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China; 3. University of Chinese Academy of Sciences, Beijing 100049, China
徐永利, 李潇男, 刘勇, 杨明毅, 刘明洋. 空间机械臂地面竖直方向重力补偿控制系统设计[J]. 机器人, 2020, 42(2): 191-198.DOI: 10.13973/j.cnki.robot.190042.
XU Yongli, LI Xiaonan, LIU Yong, YANG Mingyi, LIU Mingyang. Design of the Gravity Compensation Control System in the Vertical Direction on the Ground for Space Manipulator. ROBOT, 2020, 42(2): 191-198. DOI: 10.13973/j.cnki.robot.190042.
Abstract:In order to solve the problem of ground microgravity simulation experiment of large space manipulator, a three-dimensional active suspension gravity compensation system is designed. The system is mainly composed of a horizontal two-dimensional linear motion unit and a vertical gravity balance suspension unit. The microgravity simulation is realized by the idea of constant tension control in the vertical direction. The mathematical model of the servo motor with load is given. A hybrid force/position control method based on fuzzy PID (proportional-integral-differential) parameter tuning is proposed. The control performance of the controller with unknown load and system interference under the different motion speeds of the manipulator is studied. The simulation results show that the control method can keep the gravity compensation accuracy within 0.3%F.S (full scale), and the system has strong robustness and dynamic response capability.
[1] 徐文福,梁斌,李成,等.空间机器人微重力模拟实验系统研究综述[J].机器人,2009,31(1):88-96. Xu W F, Liang B, Li C, et al. A review on simulated microgravity experiment systems of space robot[J]. Robot, 2009, 31(1):88-96. [2] 陈三风,梅涛,张涛,等.空间微重力环境地面模拟系统的控制器设计[J].机器人,2008,30(3):201-204. Chen S F, Mei T, Zhang T, et al. Design of the controller for a ground simulation system of spatial microgravity environment[J]. Robot, 2008, 30(3):201-204. [3] 林旭梅,梅涛.地面失重实验系统的控制器设计[J].中国科学技术大学学报,2008,38(5):542-548.Lin X M, Mei T. Controller design of ground weightlessness experiment system[J]. Journal of University of Science and Technology of China, 2008, 38(8):542-548. [4] Sawada H, Ui K, Mori M, et al. Micro-gravity experiment of a space robotic arm using parabolic flight[J]. Advanced Robotics, 2004, 18(3):247-267. [5] White G C, Xu Y. An active vertical-direction gravity compensation system[J]. IEEE Transactions on Instrumentation and Measurement, 1994, 43(6):786-792. [6] Yang M Y, Xu Z G, He Y, et al. Zero gravity tracking system using constant tension suspension for a multidimensional framed structure space antenna[C]//7th International Conference on Mechanical and Aerospace Engineering. Piscataway, USA:IEEE, 2016:614-621. [7] Xu Y, Yao T Z. Simulation and implement of traditional Chinese finger-kneading based on hybrid force position control[C]//2nd International Conference on Information Science and Engineering. Piscataway, USA:IEEE, 2010:5384-5387. [8] Bu W H, Liu G J, Liu C J. Rate-position-point hybrid control mode for teleoperation with force feedback[C]//2016 International Conference on Advanced Robotics and Mechatronics. Piscataway, USA:IEEE, 2016:420-425. [9] 张钊,陈涛,周勇.永磁同步电机伺服控制系统建模与仿真[J].兵工自动化,2014,33(4):75-78.Zhang Z, Chen T, Zhou Y. Modeling and simulation of permanent magnet synchronous motor servo control system[J]. Ordnance Industry Automation, 2014, 33(4):75-78. [10] Xu J W, Feng X. Design of adaptive fuzzy PID tuner using optimization method[C]//5th World Congress on Intelligent Control and Automation. Piscataway, USA:IEEE, 2004:454-458. [11] Huang Y, Yasunobu S. A general practical design method for fuzzy PID control from conventional PID control[C]//9th IEEE International Conference on Fuzzy Systems. Piscataway, USA:IEEE, 2000:969-972.