Research On Control Parameters On-Line Optimization Of Joints Servo System Of Space Manipulator

As a main part of international space station, space manipulator plays a crucial role in on-orbit assembly, external-maintenance and recovery of space station under the extreme environment. Due to space manipulator constituted by a plurality of joints, so the space manipulator configuration change itself, will make a single joint space manipulator load inertia change. Manipulator end load changes will also affect a single joint load inertia change, which has an effect on the control-performance. Considering the necessity of high-performance of speed control, the identification of load inertia which is used to optimize the control parameters is an effective way to improve the control performance. So the study of optimizing the control parameters under the influence of the load is necessary.First, the current loop, speed loop and position loop mathematical model of the single joint servo system of the space manipulator was established. The velocity loop controller is designed based on closed-loop amplitude-frequency characteristics of the principle of minimum peak. It determined the relationship between the control parameters and load. The position loop controller is designed based on the critical ratio method. The numerical simulation results show the three-ring controller parameter design is reasonable, and also analyze the impact of the load on the speed and position of the response.Secondly, the moment of inertia is identified by using the reference adaptive method which considered the damping coefficient. The adaptive rate is designed by landau recursive discrete time parameter identification mechanism and ultra-stability theory respectively to complete the online identification of load inertia. The two identification methods are analyzed by numerical simulation. The results show that the ultra-stability theory identification method faster, and also has strong stability. Then, experimental platform is constructed which used to verify the feasibility of inertia identification algorithm. The experimental results are used to analyze applications of the two methods. Last, it proved the effectiveness and feasibility of the proposed identification algorithms.Finally, the speed control loop parameters are optimized based on the recognition result output and the mathematical model of the speed loop. The location of the control loop parameters are optimized on-line based on generalized predictive control. First, the unknown parameters of the location loop are identify, and then get the value of solving Diophantine equations which to deduce the position loop control parameters. Analysis by the numerical simulation proved that the optimization method is feasibility and effectiveness.