漂浮基空间机械臂捕获卫星过程的碰撞冲击效应评估与镇定运动的RBF神经网络控制

Impact Effect Evaluation and RBF Neural Network Control for Stabilizing a Free Floating Space Manipulator during Capturing a Satellite

  • 摘要: 分析了漂浮基空间机械臂在捕获自由飞行目标卫星过程中受到的碰撞冲击效应及碰撞后系统镇定运动的控制问题.首先,基于空间机械臂系统的运动学方程建立了系统的动力学模型.而后,基于动量、动量矩守恒原理,且考虑机械臂与卫星接触点之间的运动关系和力传递关系,计算评估捕获过程中运动目标卫星对空间机械臂的碰撞冲击影响效应.最后,针对受碰撞后不稳定的空间机械臂系统,设计镇定运动的RBF(径向基函数)神经网络控制算法,该算法无需控制载体的位置,并且能克服卫星参数不确定的影响.数值仿真揭示了捕获过程的碰撞冲击影响效应及上述镇定运动控制算法的有效性.

     

    Abstract: The impact effect of a free floating space manipulator during capturing a free flying satellite, and the stabilizing control after impact are studied. Firstly, a dynamic model of the space manipulator system is derived based on kinematic equation. And then, the impact effect is evaluated for the space manipulator system during capturing a satellite based on the momentum conservation theory by considering the kinematic and force transfer relationships between the manipulator and the satellite contact point. Finally, for the unstable space manipulator system after impact, an RBF (radial basis function) neural network control algorithm is designed for stabilizing the motion of system. There is no need for the position control of the base, and the influence of uncertain satellite parameters can be compensated. The simulation shows the impact effect in the capturing process and the validity of the proposed stabilizing control algorithm.

     

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