空间细胞机器人接管非合作目标时的交互式参数辨识方法
空间细胞机器人接管非合作目标时的交互式参数辨识方法空间细胞机器人接管非合作目标时的交互式参数辨识方法
常海涛1,2, 黄攀峰1,2, 鹿振宇1,2, 孟中杰1,2, 张夷斋1,2
1. 西北工业大学航天学院智能机器人研究中心, 陕西 西安 710072;
2. 西北工业大学航天飞行动力学技术重点实验室, 陕西 西安 710072
Interactive Parameter Identification of Cellular Space Robots for Non-cooperative Spacecraft Takeover Control
CHANG Haitao1,2, HUANG Panfeng1,2, LU Zhenyu1,2, MENG Zhongjie1,2, ZHANG Yizhai1,2
1. Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China
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摘要 为应对日益复杂和多样的在轨服务需求，本文提出利用空间细胞机器人实施对非合作目标的接管控制．针对非合作目标接管控制中的惯性参数辨识问题，考虑到常用的递推最小二乘法依赖中心节点及计算量过大等不足，提出了一种适用于空间细胞机器人系统的交互式参数辨识算法，建立了质量、质心位置和惯性张量等惯性参数的辨识模型，利用细胞机器人之间的少量数据交互实现分布式和异步式的参数辨识．仿真结果表明，算法能够实现辨识结果的收敛性和一致性，辨识精度较高．最后分析了噪声、链路断开、拓扑结构和交互策略等因素对算法收敛性和一致性的影响，结果表明算法在噪声和链路断开等情况下仍能保证辨识结果的有效性．同时通过仿真分析验证了异步交互策略的优越性．
关键词 ： 空间细胞机器人,接管控制,非合作目标,惯性参数,分布式,交互式参数辨识
Abstract：In order to execute diversified and complicated on-orbit service tasks, the cellular space robot (CSR) is proposed to perform takeover control for non-cooperative targets. To identify inertial parameters of the non-cooperative spacecraft in takeover control, an interactive parameter identification method for CSRs is proposed to reduce the central node dependency and huge computation requirement of the recursive least squares method which is commonly used. The parameter identification models for mass, center-of-mass and inertia tensor are presented respectively. The method presented is distributed and asynchronous, and requires only a few data interaction. Simulations are conducted to validate the convergence and consensus of the identification results, and high-accuracy identification is realized. More simulations show that the method proposed can achieve convergence and consensus under the influence of measurement noises, communication disconnection, communication topologies and interaction strategies, and obtain accurate results in the case of noises and disconnection. Meanwhile, the simulations validate the superiority of the asynchronous interaction over the synchronous interaction.
Key words： cellular space robot take-over control non-cooperative target inertial parameter distributed interactive parameter identification
收稿日期: 2016-11-02 出版日期: 2017-02-15
1:V448
基金资助:国家自然科学基金（11272256，61005062，60805034）；中央高校基本科研业务费（3102015BJ020）．
通讯作者: 黄攀峰,pfhuang@nwpu.edu.cn E-mail: pfhuang@nwpu.edu.cn
作者简介: 常海涛(1987-),男,博士生.研究领域:空间细胞机器人,在轨操作,航天器接管控制.
黄攀峰(1974-),男,博士,教授.研究领域:空间机器人,在轨服务,空间绳系操作,空间遥操作,导航、制导与控制,机器视觉等.
引用本文:
常海涛, 黄攀峰, 鹿振宇, 孟中杰, 张夷斋. 空间细胞机器人接管非合作目标时的交互式参数辨识方法. 机器人, 2017, 39(2): 129-138.
CHANG Haitao, HUANG Panfeng, LU Zhenyu, MENG Zhongjie, ZHANG Yizhai. Interactive Parameter Identification of Cellular Space Robots for Non-cooperative Spacecraft Takeover Control. ROBOT, 2017, 39(2): 129-138.
链接本文:
http://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0129 或 http://robot.sia.cn/CN/Y2017/V39/I2/129
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