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第41届中国控制会议

作者： Yonglei Zhang Xiaoyu Wang Xinyuan Li Hao Wen Shidong Xu State Key Laboratory of Mechanics and Control of Mechanical Structures Nanjing University of Aeronautics and Astronautics Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

The existence of nonlinear joints has a great influence on the dynamics of large flexible sapce *** a prerequisite of attitude control and vibration suppression of flexible spacecraft,it is of great importance to establish highconfidence models of joints to predict its dynamic characteristics ***,a single-degree-of-freedom model of the nonlinear joint is established based on the describing function method and harmonic balance method(HBM).In particular,the dynamic funtions of the joints with cubic stiffness and freeplay nonlinearity are derived,and the response and external excitation data are used to train surrogate models by a multi-step DNN *** validity of the data-driven modeling approach is further verified by response prediction under a different excition ***,the characteristic of an unknown nonlinearjoint is revealed by the data-driven modeling approach based on the experimental data.

关键词： Nonlinear joints space structures data-driven modeling response prediction

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A Survey of space robotic Technologies for On-Orbit Assembly

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space(Science & technology) 2022年第1期2022卷 325-337页

作者： Delun Li Lou Zhong Wei Zhu Zhipeng Xu Qirong Tang Wenhao Zhan Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringCASTBeijingChina College of Mechanical Engineering Tongji UniversityShanghaiChina National Key Laboratory of Human Factors Engineering China Astronaut Research and Training CenterBeijingChina

The construction of large structures is one of the main development trends of the space exploration in the future,such as large space stations,large space solar power stations,and large space *** is one of important development tendency,which aims to make full use of space robots to assemble space structures autonomously in the aerospace *** that on-orbit assembly is an effective method to solve the problem of construction of large-scale spatial structures,it is necessary to motivate and facilitate the research of space robotics technologies for on-orbit ***,in this paper,the development status of space robot technology and the relevant space robot on-orbit assembly technology in recent decades are ***,based on the space robot motion planning and assembly sequence planning,the development of space robot planning algorithms is *** space robot assembly task,the space robot assembly method is *** the control point of view,how to solve the vibration suppression and compliant assembly of on-orbit assembly is reviewed,which provides a reference for the autonomous intelligent assembly of space robots for large-scale structures in *** order to simulate the space assembly scene on the ground,this paper introduces the development of ground verification experiments and provides ideas for the effective verification of space on-orbit assembly *** summary,though some of these problems have been satisfactorily solved in the past research,further research is still necessary in the ***,it looks forward to the future research direction of space machine on-orbit assembly.

关键词： robot summarized autonomous

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Research on Smooth Movement Control and Testing of a Wheeled-Legged Robot

Research on Smooth Movement Control and Testing of a Wheeled...

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IEEE International Conference on Mechatronics and Automation

作者： Jingyu Wang Daming Li Zhijun Zhao Wang Jie Yaobing Wang Junkai Sun Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798350388077

ISBN: (纸本)9798350388084

This paper focuses on the application of wheeledlegged robots for extraterrestrial exploration. To address the stability and terrain adaptability issues during planetary surface exploration, a novel motion control strategy integrating body attitude control and support force control is proposed based on kinematic inverse solution. This strategy adjusts the body posture by dynamically regulating the length of each leg to ensure sufficient wheel-ground contact force while traversing rough terrains. The paper also conducts simulation and tests of the wheeled-legged robot in typical terrains. Results demonstrate that the proposed algorithm effectively overcomes terrain variations and enhances stability during the robot's movement.

关键词： Legged locomotion Attitude control Force Wheels Kinematics Stability analysis Surface roughness

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Research on a Visual Servo Method of a Manipulator Based on Velocity Feedforward

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space(Science & technology) 2021年第1期2021卷 119-126页

作者： Rui Wang Changchun Liang Dong Pan Xiaodong Zhang Pengfei Xin Xiaodong Du Beijing Institute of Spacecraft System Engineering Beijing 100094China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing 100094China

In this paper,a method of predicting the motion state of a moving target in the base coordinate system by hand-eye vision and the position and attitude of the end is *** predicted value is used as the velocity feedforward,and the position-based visual servo method is used to plan the velocity of the end of the *** overcomes the influence of end coordinate system motion on target prediction in a discrete system and introduces an integral control method to compensate for the prediction velocity,eliminating the end tracking error caused by target velocity prediction *** effectiveness of this method is verified by simulation and experiment.

关键词： Visual Velocity prediction

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Long-life Design and Experimental Verification of Ball Screw for spacecraft Mechanism 7

Long-life Design and Experimental Verification of Ball Screw...

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7th International Conference on Electromechanical Control technology and Transportation, ICECTT 2022

作者： Zhang, Wenming Zhang, Yun Chen, Ming Zeng, Lei Gao, Sheng Jiang, Xufu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Beijing Satellite Manufacturing Limited Company Beijing China

ISBN: (纸本)9781510656659

The ball screw is a commonly used transmission component. When applied to the spacecraft mechanism, it is necessary to comprehensively consider space environmental factors such as on-orbit high and low temperature, vacuum, atomic oxygen, electron irradiation, single particle, ultraviolet and infrared irradiation. In view of the long-life application requirements of ball screws for spacecraft mechanism, the factors affecting the life of the ball screws are analyzed. Two design schemes are proposed according to the lubrication method of the ball screws and the material of ball for a ball screws of a certain spacecraft mechanism. The design scheme of ceramic ball + raceway sputtering MoS2 lubrication has been confirmed by the test. The design can work for no less than 7000 times under the specified load, which meets the requirements of the flight model on-orbit. Through the ball screw long-life test, it can be seen that the load capacity and service life of the solid lubricated ball screw are significantly reduced. In the development process of the spacecraft mechanism ball screw, a special life test must be carried out to verify whether the ball screw can meet the on-orbit requirements. © 2022 SPIE

关键词： Layered semiconductors

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Construction of the rat brain spatial cell firing model on a quadruped robot

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CAAI Transactions on Intelligence technology 2022年第4期7卷 732-743页

作者： Naigong Yu Yishen Liao Hejie Yu Ouattara Sie Faculty of Information Technology Beijing University of TechnologyBeijingChina Beijing Key Laboratory of Computational Intelligence and Intelligent System BeijingChina Engineering Research Center of Digital Community Ministry of EducationBeijingChina College of Robotic UniversitéFélix Houphouet-BoignyAbidjanCote d'Ivoire

Physiological studies have shown that rats in a dark environment rely on the limbs and vestibule for their self-motion information,which can maintain the specific firing patterns of grid cells and hippocampal CA3 place *** the development stage of rats,grid cells are considered to come from place cells,and place cells can be encoded by hippocampal theta *** on these,the quadruped robot is used as a platform in this ***,the sensing information of the robot's limbs and inertial measurement unit is obtained to solve its position in the *** the position information is encoded by theta cells and mapped to place cells through a neural *** obtaining the place cells with singlepeak firing fields,Hebb learning is used to adjust the connection weight of the neural network between place cells and grid *** order to verify the model,3-D simulation experiments are designed in this *** experiment results show that with the robot exploring in space,the spatial cells firing effects obtained by the model are consistent with the physiological research facts,which lay the foundation for the bionic environmental cognition model.

关键词： robot neural firing

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Energy-Consumption Optimization Control for Lunar Rover's Travel with Torque-Distribution-strategy in Rear Wheels

Energy-Consumption Optimization Control for Lunar Rover's Tr...

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IEEE International Conference on Control Science and systems Engineering (CCSSE)

作者： Delun Li Jianfei Cao Yiliang Chen Zongwu Xie State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

In anticipation of future extensive lunar surface operations, lunar rovers are required to advance towards higher speeds and improved energy conservation. When traveling at high speeds on the lunar surface, the vehicle's energy expenditure is greatly amplified by the influence of the terrain, particularly in conditions where driving and steering are coupled. This paper proposes an energy-saving control strategy for lunar rovers that employs dynamic rear-axle torque distribution, with the goal of optimizing transient energy consumption during travel. To tackle the challenge of non-differentiable functions within the optimization objectives, we suggest using a zeroth-order gradient optimization method for resolution, dynamically constraining the range of control parameters to fulfill the dynamic torque distribution objectives as needed for the task. The energy-saving control effectiveness of the algorithm has been confirmed through simulation, demonstrating a minimum energy-saving ratio of at least 4%, which increases to over 11% as the speed level rises, offering a valuable technical solution for the energy optimization of lunar rovers.

关键词： space vehicles Energy consumption Torque Distribution strategy Moon Wheels Optimization methods systems engineering and theory Vehicle dynamics Transient analysis

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Lunar Rover's Path Tracking Control Strategy Using Zero-Order Optimization Method

Lunar Rover's Path Tracking Control Strategy Using Zero-Orde...

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IEEE International Conference on Control Science and systems Engineering (CCSSE)

作者： Jianfei Cao Yaobing Wang Jiyang Yu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798331517199

ISBN: (纸本)9798331517205

The development of lunar rovers is critical for human exploration of the lunar surface. These rovers will need to travel longer distances at higher speeds, and the efficient control of their paths is essential for mission success. Model Predictive Control (MPC) is a path tracking method with foresight and robustness, capable of predicting vehicle movement and solving optimization problems to minimize cost functions. However, the complexity of lunar environments necessitates simplified models, such as kinematic models, to reduce computational cost. The study proposes a special MPC method that uses zeroth-order gradient optimization to directly solve the nonlinear model and generate precise control commands, significantly reducing computational burden and meeting the computational cost requirements of lunar rover control.

关键词： space vehicles Tracking Computational modeling Moon Optimization methods Kinematics Predictive models Robustness Computational efficiency Predictive control

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Resonance frequency prediction approach of lattice structure fabricated by selective laser melting

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Advances in Astronautics Science and technology 2022年第4期5卷 309-316页

作者： Zhou, Hao Jia, Heran Zeng, Huizhong Tu, Yonggang Li, Linli Zhang, Xiaoyu Lei, Hongshuai Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering China Academy of Space Technology No. 104 Youyi Road Beijing 100094 China Beijing Key Laboratory of Lightweight Multi-Functional Composite Materials and Structures Beijing Institute of Technology No. 5 Zhongguancun South Street Beijing 100081 China

Lightweight structures composed of a closed shell and internal lattice infill are highly desirable in satellites on account of their superior specific stiffness and buckling strength, which are brought about by the sandwich effect. These lattice structures can be fabricated by various additive manufacturing techniques, such as selective laser melting (SLM). However, the sub-millimeter-scale shell thickness and lattice strut diameter of the fabricated structure often deviate from the designed dimensions and lead to noteworthy discrepancies between the resonance frequencies of the fabricated structure and those of the initial design model. In this work, a bracket structure for a satellite is designed via topology optimization-based lattice infill approach and fabricated using SLM. A resonance frequency prediction approach based on X-ray micro-computed tomography and the stiffness equivalence is then proposed. Vibration tests are conducted to obtain the resonance frequencies of the fabricated structure. The prediction errors of resonance frequencies for the first three modes are less than 1%, whereas that of the traditional approach based on finite element analysis is as large as 14%. © 2022, Chinese Society of Astronautics.

关键词： Additive manufacturing Geometric reconstruction Lattice structure Prediction approach Resonance frequency

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Design and experimental verification of microgravity simulation system for lunar sampling manipulator 7

Design and experimental verification of microgravity simulat...

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7th International Conference on Electromechanical Control technology and Transportation, ICECTT 2022

作者： Chen, Ming Zeng, Lei Ni, Wencheng Zhang, Yun Zhao, Jianfei Jiang, Shuiqing Beijing Key Laboratory of Space Intelligent Robot System Technology and Application Beijing Space Vehicle General Design Department Beijing China Tianjin Institute of Aerospace Mechanical and Electrical Equipment Tianjin300458 China

ISBN: (纸本)9781510656659

According to the requirements of ground test task of lunar sampling manipulator, a microgravity simulation system based on suspension method is designed and developed. The system is mainly composed of Position tracking system, Force compensation system, Suspension system, Posture measurement system and Integrated control system. The simulation system has completed the ground test and ground verification of lunar sampling manipulator, which has been successfully launched, and successfully completed the on-orbit mission. The microgravity simulation system of manipulator has good universality and expansibility, and can be applied to the ground test of other space manipulator products. © 2022 SPIE

关键词： Microgravity

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