Online Parameters Tuning For Joint Ervo System Of Space Manipulator Under Load Disturbance

Space manipulators play an important role in Space processing tasks.As a result of the microgravity, in the execution of the typical space task,the space manipulator composed of multi-joint will change the load state of the robot end with the task, which will cause the single-joint servo system of the space manipulator to drive the moment of inertia of the joint torque and speed. In order to achieve good dynamic and static control performance of the system, it is necessary to adjust and optimize the parameters of the controller according to the variation of load disturbance parameters of the manipulator, in order to meet the requirements of system stability and reliability. For the case of load disturbance, this paper mainly studies the parameter identification and parameter optimization of the joint servo system.1. The model characteristics of the joint servo system are analyzed and the vector control mode of the joint servo system is studied.According to the load disturbance, the control performance of the controller is analyzed by the sudden change of the load torque. The influence of the load on the load torque, speed and position response is analyzed by numerical simulation experiment.2. A parameter identification method of UKF based on covariance matching algorithm is proposed. Aiming at solving the problems that the control parameters of the drive motor are not easy to be measured and the measurement accuracy is not high, the motor parameter identification method based on extended Kalman filter and unscented Kalman are established and realized by establishing the vector control equations of the motor servo system. Aiming at the problem that the extended Kalman filter is not sensitive to identification instability, a parameter identification method of UKF motor based on covariance matching algorithm is proposed. The feasibility, validity and stability of the algorithm is verified by simulation experiments.4. The optimization method of controller PI parameter setting based on fuzzy control algorithm is studied. Based on the basic method of the fuzzy control method, the PI control strategy of the PI control system of the permanent magnet synchronous motor is designed and established.Through simulation experiment data analysis, it is verified that the controller parameters PI tuning optimization, in the case of load disturbance has good dynamic characteristics.5. A kind of physical verification platform is set up based on dsPIC33F hardware circuit platform and software platform. The parameter identification method based on unscented Kalman filter algorithm and PI parameter tuning optimization method based on fuzzy control are set up. Physical verification, record the relevant experimental data, and the experimental data processing and analysis to arrive at the experimental conclusion.