摘要
在进行在轨操作的地面模拟试验中,受操作机械臂运动影响,试验平台的质心会发生偏移,由此产生的时变扰动重力矩会严重影响卫星地面模拟试验的准确性.面向试验平台时变质心动态调控需求,提出了一种联合质量特性实时辨识结果的高精度高抗扰质心动态调控方法.构建了考虑时变偏心重力矩影响下的试验平台动力学模型,开展了基于并发递推算法的质量特性实时辨识研究,提出了一种双闭环滑模质心调控方法.进行了试验平台质量特性辨识与质心调控仿真验证,在机械臂以3(°)/s等典型地面模拟试验工况进行运动时,前置辨识误差可以稳定在4.1%以下,基于辨识结果进行调控,平台姿态角控制在0.04°以内,开展了地面试验,结果表明,动态调控中的平台姿态角可以稳定在0.1°以内.仿真和试验结果证明,本文所提质心调控方法能实时消除重力扰动力矩,可为后续模拟在轨操作等任务提供可靠的试验基础.
During ground simulations of on-orbit operations,the movement of a manipulator arm causes a shift in the test platform’s center of mass.The resulting time-varying disturbance torque due to gravity significantly impacts the accuracy of satellite ground simulation tests.Addressing the need for dynamic control of the test platform’s time-varying center of mass,a high-precision,robust dynamic control method incorporating real-time identification of mass properties is proposed.A dynamic model of the test platform,considering the influence of time-varying eccentric gravity torque,is established.A real-time concurrent recursive identification method for mass property parameters is developed.A dual-loop sliding mode control approach is proposed,with the outer loop tracking the desired attitude angles and the inner loop tracking angular velocity.Simulation validations of mass property identification and center-of-mass control are performed.When the manipulator arm moved under a typical on-orbit operating condition of 3(°)/s,the pre-identification error is stably below 4.1%.Based on the identified results,the platform’s attitude angle is controlled within 0.04°.Ground-based experiments are conducted,and the results show that the platform’s attitude angle could be stabilized within 0.1°.The simulation and experimental results demonstrate that the proposed center-of-mass control method can effectively eliminate the gravity disturbance torque in real-time.This approach provides a reliable experimental foundation for subsequent missions involving simulated on-orbit operations.
作者
尤博
安玉民
侯玮杰
张慧博
YOU Bo;AN Yumin;HOU Weijie;ZHANG Huibo(Hebei University of Technology,Tianjin 300401,China;Tianjin Aerospace Electromechanical Equipment Research Institute,Tianjin 300301,China;Harbin Engineering University,Harbin 150001,China)
出处
《空间控制技术与应用》
北大核心
2025年第3期60-69,共10页
Aerospace Control and Application
基金
国家重点研发计划(2023YFC2205900和2023YFC2205903)
国家自然科学基金资助项目(U21B2075)
国家自然科学基金面上项目(52475249和52375025)
水声技术全国重点实验室稳定支持计划(JCKYS2023604SSJS012)
可重用空间碎片抓捕清除技术(KJSP2020010302)
中央高校基本科研业务费专项(3072023WD070101)。
关键词
地面试验平台
质心调控
质量特性辨识
并发递推
双闭环滑模控制
ground test platform
dynamic center-of-mass control
mass property parameter identification
concurrent recursive
dual-loop sliding mode control
