The invention relates to a servo control method, in particular to a servo control method for capturing a non-cooperative spray pipe through a space manipulator. The invention aims to solve the problems that a classical servo control method cannot effectively eliminate motion disturbance of a service aircraft and a single control mode cannot complete nozzle capture. The method comprises the following steps: a service aircraft keeps a stable relative position with a non-cooperative target by adopting air injection control; entering a position control stage of the visual servo non-cooperative spray pipe of the mechanical arm, and tracking the planned motion trail by the mechanical arm in a position control mode to approach the spray pipe of the non-cooperative target; entering a speed control stage that the mechanical arm is in linear butt joint with the non-cooperative spray pipe, and enabling the tail end of the mechanical arm to linearly advance at a constant speed in a speed control mode to be in butt joint with the non-cooperative spray pipe; and after a contact switch at the head of the nozzle is triggered, the service aircraft stops controlling, the mechanical arm enters a standby state, the joint brake brakes, and non-cooperative nozzle capturing is completed. The invention belongs to the field of aerospace.
一种空间机械臂抓捕非合作喷管的伺服控制方法,它涉及一种伺服控制方法。本发明为了解决经典伺服控制方法无法有效消除服务飞行器的运动扰动以及单一控制模式无法完成喷管捕获的问题。本发明的步骤为:服务飞行器采用喷气控制与非合作目标保持稳定的相对位置;进入机械臂视觉伺服非合作喷管的位置控制阶段,机械臂采用位置控制模式跟踪规划的运动轨迹,接近非合作目标的喷管;进入机械臂直线对接非合作喷管的速度控制阶段,机械臂采用速度控制模式末端直线匀速前进,对接非合作喷管;待喷管头部的接触开关触发,服务飞行器停控,机械臂进入待机状态,关节制动器制动,完成非合作喷管捕获。本发明属于航空航天领域。
Servo control method for capturing non-cooperative spray pipe through space manipulator
一种空间机械臂抓捕非合作喷管的伺服控制方法
2023-12-22
Patent
Elektronische Ressource
Chinesisch
IPC: | B64G Raumfahrt , COSMONAUTICS |
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