大型空间机械臂容错关节设计与控制_潘博.pdfVIP

DO I :10.16578/j .issn.1004.2539.2010.09.027 34 　9 　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　　1 　 :1004-2539(20 10)09-000 1-05 1 1 2 　 　　 　 (1 , 　　100094) (2 , 　　100037) 　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 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。 　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 1 1 2 Pan Bo 　Sun Jing 　Yu Dengyun (1 China Academy of Space Techno ogy, Beijing 100094,China) (2 China Aerospace Science and T echno ogy Corp., Beijing 100037,China) Abstract 　Joint is the key to ensure the safe and stab e operation of space manipu ator as one of the critica com- ponents.For the characteristic of a high fai ure probabi ity of the drive motor, the fau t-to erant joint is designed a- gainst a sing e motor fai ure and the detai dynamic mode is estab ished for this joint .The non inear factors such as c earance and meshing error are taken into account in the mode .Base on this mode , the anti-torque saturation non - inear PD contro is designed and the c osed-oop system is so ved by the Precise Integration A gorithm .The simu ation resu ts show that the joint can run steadi y when the power fai ure or ocked-rotor of either motor and the output torques of both the motor and the joint are kept within the a owab e range . Key words　Space manipu ator 　Joint 　Fau t-to erant 　Dynamic mode ing 　Contro 　P anetary gear 、、 0