文档介绍：第 34 卷
第 9 期
大型空间机械臂容错关节设计与控制
1
文章编号: 1004- 2539( 2010) 09- 0001- 05
大型空间机械臂容错关节设计与控制
潘
博1
孙
京1
于登云2
( 1 中国空间技术研究院,
北京
100094)
( 2 中国航天科技集团公司,
北京
100037)
摘要
关节是空间机械臂的核心部件, 是保证空间机械臂安全、平稳运行的关键。针对电机失效概
率较高的特点, 进行了预防单台电机失效的容错关节设计, 并建立了该关节的细化动力学模型, 模型中
考虑了间隙、啮合误差等非线性因素。基于此模型, 进行了抗力矩饱和的非线性 PD 控制律设计, 并利
用精细积分方法对闭环系统进行数值求解。仿真结果表明: 该容错关节可以在单台电机掉电或堵转时,
保证关节的稳定、正常运行, 且电机和关节的输出力矩均保持在许用转矩的范围内。
关键词
空间机械臂
关节
容错
动力学建模
控制
行星齿轮
Fault- tolerant Joint Design and Control for Large- scale Space Manipulator
Pan Bo1
Sun Jing1
Yu Dengyun2
( 1 China Academy of Space Technology, Beijing 100094, China)
( 2 China Aerospace Science and Technology Corp. , Beijing 100037, China)
Abstract
Joint is the key to ensure the safe and stable operation of space manipulator as one of the
ponents. For the characteristic of a high failure probability of the drive motor, the fault
tolerant joint is designed a
gainst a single motor failure and the detail dynamic model is established for this joint. The nonlinear factors such as
clearance and meshing error are taken into account in the model. Base on this model, the anti
torque saturation non
linear PD control is designed and the closed
loop system is solved by the Precise Integration Algorithm. The simulation
results show that the joint can run steadily when the power failure or locked-