Zero-disturbance optimization control method for base of space manipulator

Abstract

The invention discloses a zero-disturbance optimization control method for a base of a space manipulator. The method comprises the following steps that S1, a kinematic model is established for the space manipulator; S2, the kinematic model of the space manipulator is fixed equivalently; S3, a joint track of the space manipulator is parameterized through a seven-variable septic polynomial, the posture of the base of the space manipulator is represented through a quaternion equation, and a system state equation is established according to the position and posture of the base of the space manipulator; S4, an objective function of an optimization algorithm is established, and the objective function is simplified according to solution of the system state equation and limitation of joint speed parameters and angular acceleration parameters of the manipulator; S5, motion planning problems are solved through the optimization algorithm. According to the zero-disturbance optimization control method for the base of the space manipulator, the probability of finding the optimal base zero-disturbance space manipulator path is increased, calculating time for evaluation of the objective function through the particle swarm algorithm is saved, optimization is conducted on parallel computing, and calculating speed is multipled through parallel computing.

Description

technical field [0001] The invention relates to a zero-disturbance optimal control method for a base of a space manipulator. Background technique [0002] In order to make space exploration more efficient, researchers have continued to study the technical issues of space manipulators in recent years. With the deepening of research, the main research hotspots and difficulties of space machines have gradually become clear. According to the law of conservation of momentum, the space manipulator will inevitably change the attitude and position of the artificial satellite loaded with it in the process of movement. In general, the traditional method is to use mutually orthogonal flywheels, force balance gyroscopes or magnetic torque devices, or even propellers to balance these disturbances, but this not only increases the difficulty of manufacturing the space robot, but also consumes the energy that the space robot can carry. limited fuel. Under this premise, it is of practical ...

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Problems solved by technology

[0003] Relevant domestic and foreign researches include: "The Cartesian Path Planning of Free-Floating Space Robot using Particle Swarm Optimization" and "Non-holonomic Path Planning of a Free-Floating Space Robotic System Using Genetic Algorithms" published by Harbin Institute of Technology in 2008, Japan published "Zero reaction maneuver: flight validation with ETS-VII space robot and extension to kinematically redundant arm" in 2001, but the above-mentioned method has the disadvantages of large amount of calculation, difficulty in practical application, and certain randomness in the actual application process

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