大型空间机械臂容错关节设计与控制.pdfVIP

34 9 1 : 1004- 2539( 2010) 09- 0001- 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 Aca emy of Space Technology, Beij ing 100094,China) ( 2 China Aerospace Science an Technology Corp. , Beij ing 100037,China) Abstract Joint is the key to ensure the safe an stable operation of space manipulator as one of the critical com ponents. For the characteristic of a high failure probability of the rive motor, the faulttolerant joint is esigne a gainst a single motor failure an the etail ynamic mo el is establishe for this joint. The nonlinear factors such as clearance an meshing error are taken into account in the mo el. Base on this mo el, the antitorque saturation non linear PD control is esigne an the close loop system is solve by the Precise Integration Algorithm. The simulation results show that the joint can run stea ily when the power failure or locke - rotor of either motor an the output torques of both the motor an the joint are kept within the allowable range. Key words Space manipulator Joint Fault- tolerant Dynamic mo eling Control Planetary gear 0 [ 1]