基于子空间方法的柔性空间机械臂未知末端载荷质量参数辨识

doi:10.3901/JME.2018.14.132

机械工程学报 ›› 2018, Vol. 54 ›› Issue (14): 132-140.doi: 10.3901/JME.2018.14.132

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基于子空间方法的柔性空间机械臂未知末端载荷质量参数辨识

倪智宇¹, 刘金国¹, 畅晨光^1,2

1. 中国科学院沈阳自动化研究所机器人学国家重点实验室沈阳 110016;
2. 东北大学机械工程与自动化学院沈阳 110819

收稿日期:2017-07-08 修回日期:2018-01-10 出版日期:2018-07-20 发布日期:2018-07-20
通讯作者: 刘金国(通信作者),男,1978年出生,博士,研究员,博士研究生导师。主要研究方向为空间机器人与智能装备、空间结构与机构、仿生智能机器人等。E-mail:liujinguo@sia.cn
作者简介:倪智宇,男,1985年出生,博士,助理研究员。主要研究方向为系统辨识与振动控制方法。E-mail:nizhiyu@sia.cn;畅晨光,男,1993年出生,硕士研究生。主要研究方向为机械臂参数标定/辨识与误差分析方法。E-mail:changchenguang@sia.cn
基金资助:
国家自然科学基金（51775541）、载人航天预研（030201）和中国博士后科学基金（2016M601354）资助项目。

Identification of Unknown Endpoint Payload Mass Parameter of Flexible Space Manipulator Based on Subspace Method

NI Zhiyu¹, LIU Jinguo¹, CHANG Chenguang^1,2

1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016;
2. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819

Received:2017-07-08 Revised:2018-01-10 Online:2018-07-20 Published:2018-07-20

摘要/Abstract

摘要： 空间机械臂捕获非合作目标后，需要及时辨识获取机械臂末端未知载荷的质量参数，以便于控制系统参数的修正。为此，提出一种柔性机械臂末端载荷质量参数的递推辨识方法。该方法基于投影估计子空间追踪（Projection approximation subspace tracking，PAST）方法，将系统的动力学模型在某一工作点附近进行线性化。在此基础上，进一步将动力学方程中的机构运动和结构振动进行解耦，从而能够在辨识该构型下的系统频率值的同时，通过提取对应的分块矩阵，计算得到未知载荷的质量参数。在数值仿真中，建立双连杆柔性空间机械臂系统的动力学模型，分别讨论在不同载荷质量以及臂杆构型情况下的参数辨识问题，计算结果证明了所提出的这种递推方法能够有效辨识空间机械臂的末端载荷质量参数。此外还将该递推方法与常用的代数辨识方法进行比较，仿真结果表明了与传统的代数方法相比，这种递推方法可以更为快速地获得载荷的质量参数。

关键词: 递推子空间方法, 柔性空间机械臂, 载荷质量参数, 在轨辨识

Abstract: After capturing a non-cooperative object by space manipulator, the unknown mass parameters of manipulator endpoint payload need to be estimated to revise the control parameters. A novel identification method is presented to identify the endpoint payload mass parameters for flexible space manipulator. This approach is based on the projection approximation subspace tracking(PAST) algorithm, and the manipulator's system dynamical model is linearized at a certain working point. Moreover, the mechanical motion and structural vibration in the dynamical equations are decoupled. Then, the system frequency in this configuration can be determined, and the mass parameter of unknown payload can be derived by extracting the corresponding block matrix. In numerical simulation, the dynamical model of a two-links flexible space manipulator is established, and the parameter identification problems for the different payload masses and manipulator configurations are discussed. The computational results illustrate that the proposed recursive method can effectively identify the endpoint payload mass parameters of space manipulator. Moreover, the recursive method is also compared with the frequently-used algebraic identification algorithm, and the simulation results show that the proposed approach can obtain the payload mass parameters more quickly than the classical algebraic algorithm.

Key words: flexible space manipulator, on-orbit identification, payload mass parameter, recursive subspace method

中图分类号:

倪智宇, 刘金国, 畅晨光. 基于子空间方法的柔性空间机械臂未知末端载荷质量参数辨识[J]. 机械工程学报, 2018, 54(14): 132-140.

NI Zhiyu, LIU Jinguo, CHANG Chenguang. Identification of Unknown Endpoint Payload Mass Parameter of Flexible Space Manipulator Based on Subspace Method[J]. Journal of Mechanical Engineering, 2018, 54(14): 132-140.

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基于子空间方法的柔性空间机械臂未知末端载荷质量参数辨识

Identification of Unknown Endpoint Payload Mass Parameter of Flexible Space Manipulator Based on Subspace Method

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