基于多层映射模型的空间机械臂运动可靠性影响因素灵敏度分析

发布时间：2018-07-06 08:12

本文选题：运动可靠性 + 空间机械臂　；参考：《机械工程学报》2017年11期

【摘要】：面向空间机械臂在轨操作任务的高可靠性需求,基于运动可靠性影响因素多层映射模型开展灵敏度分析,为空间机械臂任务规划和控制决策制定提供理论依据。综合考虑空间机械臂几何参数、控制变量和柔性因素对运动可靠性的影响,建立运动可靠性影响因素的多层映射模型,实现各因素耦合关系和对运动可靠性递推关系的表征;以此为基础,融入在轨任务约束构造极限状态函数,引入非线性响应面方法实现灵敏度的快速求解,在避免传统方法中多维积分连续偏导问题的同时满足了在轨实时应用需求。通过仿真试验,实现了对各类运动可靠性因素的灵敏度求解,验证了多层映射模型的准确性和非线性响应面方法对求解运动可靠性灵敏度的有效性,并对灵敏度在任务周期内的时变性进行了探讨。
[Abstract]:In order to meet the high reliability requirement of space manipulator in orbit operation, sensitivity analysis is carried out based on the multi-layer mapping model of motion reliability influencing factors, which provides a theoretical basis for mission planning and control decision making of space manipulator. Considering the influence of space manipulator geometry parameters, control variables and flexible factors on motion reliability, a multi-layer mapping model of motion reliability influencing factors is established to realize the coupling relation of each factor and the representation of the recursive relation of motion reliability. On this basis, the limit state function is constructed with the in-orbit task constraints, and the nonlinear response surface method is introduced to solve the sensitivity quickly. It avoids the multi-dimensional integral continuous partial derivation problem in the traditional methods and meets the real-time application requirements in orbit. Through the simulation experiment, the sensitivity solution of various kinds of motion reliability factors is realized, and the accuracy of the multi-layer mapping model and the validity of the nonlinear response surface method in solving the motion reliability sensitivity are verified. The time variation of sensitivity during the task cycle is also discussed.
【作者单位】：北京邮电大学自动化学院;中国科学院电子学研究所传感技术联合国家重点实验室(北方基地);
【基金】：国家重点基础发展计划(973计划,2013CB733000) 国家自然科学基金(61403038)资助项目
【分类号】：TP241

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