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

doi:10.3901/JME.2018.14.132

Abstract

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

CLC Number:

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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