基于飞轮控制的空间机器人质量参数辨识

针对空间机器人进行在轨辨识时存在精度不高、燃料消耗较大等问题,提出了基于飞轮控制的在轨辨识方法,可以有效地解决辨识时存在的问题。该方法采用飞轮控制作为激励方式,通过改变机械臂的构型使整个空间机器人系统的质量分布发生变化,分别测量构型改变后的角速度和线加速度,以计算出基座本体的质量、质心和转动惯量。此外,分析了机械臂与本体的质量比对辨识精度的影响。仿真结果表明,本文的方法可操作性强、精度较高,燃料消耗较小,可以应用于空间机器人的在轨辨识中。

Identification of Inertia Properties of Space Robot Based on Wheel Control

Regarding the problems of the on-orbit identification of inertia properties of space robot,a method based on wheel control is proposed.By way of moving the robotic arm,the inertia distribution of space robot system is changed,and then the mass,mass center and inertia tensor of spacecraft body can be solved.The simulation results show that the identification method has higher accuracy and can be used for on-orbit identification.The sensitivity of the method with respect to different arm/spacecraft mass ratios is also investigated.