The Control Technology Research Of A Typical Space Operation Mechanism Durdvg Both Ground Simulation And Space Application

In recent years, with the rapid development of science and technology in space, the typical space operation mechanism will be playing more and more important role in future space activities, so systematically to carry out activity mechanism motion law and application research under the microgravity condition is a long-term and urgent need to solve of science and technology issues. Naturally the study of space operation mechanism will become the focus of people. Therefore, countries are committed to the space operation mechanism motion behavior control technology research.Considering the influences of gravity to the typical space operating mechanism (taking the space manipulator as example) motion control and control accuracy problem of space operating mechanism under microgravity environment, the main work are as follows:Firstly, this paper describes the current status of microgravity motion behavior and the development of space manipulator at home and aboard, and related on-ground experimental testbeds are introduced. At the same time, the fundamental theory and control methods for space manipulator are evaluated. The kinematics and dynamic models for a specific simulation model are given respectively. This provides a theoretical basis for the controller design of subsequent chapters.Secondly, the influence of the gravity to the movement behavior control of space manipulator is researched. This paper considers a two-link planar space manipulator system as the control object and analyzes the influence of the gravity to the joint driving torque of space manipulator in the view of the dynamic characteristics. On this basis, PD control method is adopted to study the influence of the gravity items to the trajectory tracking accuracy. This paves the way for the study contents of subsequent chapters.Again, considering gravity acceleration in the on-orbit operational process can change with spatial location, an adaptive robust control strategy is proposed for end control of space robot. The paper designs the new adaptive controller to estimate the gravity acceleration g on line in order to approach the gravity acceleration of environment in which the space manipulator is locating. At the same time, it leads to approach the gravity items. Then the uncertainty can be compensated by a robust controller. And finally the control scheme can guarantee the stability of closed loop system and the asymptotic convergence of tracking errors based on the Lyapunov theory. This control method is novel, effective and universal. It is a very good solution to solve the gravity acceleration identification problem with good robust performance.Finally, considering gravity items change from ground alignment under gravity environment to space applications under microgravity environment, a neural network adaptive robust control strategy is proposed for end control of space manipulator. The control scheme uses neural networks to approach the gravity items of system model on line. The approach errors and uncertainty can be compensated by an adaptive robust controller. The control scheme can guarantee the stability of closed loop system and the asymptotic convergence of tracking errors based on the Lyapunov theory. The simulation results show that the controller is effective in control accuracy for end control of space manipulator.