Position And Attitude Control Of Dual-Arm Space Robot Ground Air-Bearing Simulation System

Looking forward to the development blueprint of aerospace industry during China's 12th Five-Year plan, because the space environment is complex, it is an inevitable trend that the space robots will replace astronauts to complete some tasks, such as to capture the abandoned satellites, to remove the junk on the satellites orbit, to service aircraft equipments, and so on. Based on this background, this paper puts the dual-arm space robot ground air-bearing simulation system as the object of the research to control its plane position and attitude, and does the relevant research.The main work in this paper includes some aspects as follows.First of all, the movement mathematical models of the air-bearing simulation system are established when the arms don't move; the movement mathematical models between dual arms and the body of the air-bearing simulation system are established when the arms move; the mathematical model of the jet thrusters is established; the dynamic model of SGCMG and the dynamic model of the gimbal servo system of SGCMG are established.Secondly, the comprehensive PID control method which is based on transition and the feedforward to compensate disturbance using the SRO module of the MATLAB Optimization Toolbox is designed to control the plane motion for the air-bearing simulation system, the same time, the MATLAB/SIMULINK simulations are done for verification, and the results of the simulations can meet the actual requirements.Then, using the jet thrusters as the attitude control actuals, the simulations are done to control the attitude of the air-bearing simulation system; using a single gimbal control moment gyroscope as the attitude control actual, the asymmetric tracking controller based on the pole placement is designed to control the attitude of the air-bearing simulation system; the gimbal angle controller of the gimbal servo system is designed through making use of the pole placement method, and the simulation results demonstrate its effectiveness.Finally, the disturbances which are caused by the moving arms about the plane position and attitude on the body of the air-bearing simulation system are discussed; a program of the arms movement without the disturbance about the attitude on the body is proposed; the same time, it uses the feedforward to compensate disturbances which are caused by the arms about the plane position, and the simulation results demonstrate its feasibility.