大型空间机械臂关节及其抑振控制研究-机械电子工程专业论文.docx

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract Tracking human pace into space, space manipulators, as symbols of advanced technology in astronautics, have made a significant progress. Large space manipulator systems (LSMS), serving large-scale orbital devices such as space stations, are becoming a focus in research on space manipulators. Combining research-in-advance on LSMS by the National Key Lab, key techniques in RD of the LSMS joint are studied in this thesis. Ground-testing prototypes of LSMS joints are developed. Research on means of vibration suppression control of the joint is carried out. A new, high-integrated, modularized joint for LSMS is developed, integrating mechanism, sensors, drive, control, power and communication. Considering the joint torque to be affectless in zero-g conditions in space, modularization is adopted, for decreasing the RD cycle and expense of the LSMS, as well as making convenience of its maintenance. A large hole through the center is applied to protect the cables from effects of hard conditions in space. Several sorts of auxiliary assemblies are developed, such as a limitation device to limit the joint’s moving range and expand the position sensor’s measuring range, a manual-drive device in case of an emergency shut-down, and an orbital replacement connector for orbital maintenance of the joint. Plenty of sensors are integrated in the joint to improve its intelligence. A sensor system is built for providing reliable communication between joint motion and the controller. Therein, each of the position sensors, torque sensors, and current sensors is utilized to gather signals for feedback/feedforward needed by the joint control system. In addition, thermal sensors are in use to fulfill the joint function of thermal control, to ensure working conditions of the system. Theories of vibration suppression control of LSMS joint are mainly studied in this thesis. The dynamic mathematic models of the flexible joint are established, and