空间连续型机器人缠绕捕获目标过程动力学与控制及其辛算法

Winding and capturing target by space continuum robots is a typical rigid-flexible-soft coupling multi-body dynamics and control problem, this project is proposed to research time-space multiscale dynamical simulation of winding and capturing process by the space continuum robots, and mission coordination planning and cooperative control by the space continuum robots. (1) Based on detailed mechanical analysis of non-smooth dynamics of the space continuum robots, equivalent dynamic model will be established. With the above research, the differential-algebraic equation model of complex rigid-flexible-soft coupling multibody system can be established. To accurately and reliably reveal the time-space multiscale dynamical character of the multibody system, the symplectic numerical methods will be developed for separating of high frequency and low frequency components in rigid-flexible-soft coupling system, and at the same time, the time-space multi-scale dynamical characteristics of the coupled system are revealed accurately and efficiently; (2) Based on the results of modeling, analysis and simulations of the coupling multi-body system, the dynamic coordinated trajectory planning and consistency control method for winding and capturing target by space continuous robots can be further studied. Through the global and local trajectory planning, the relationship between the performance of a single continuous robot and the performance of multiple continuous robots is unified to achieve the dynamic coordination. At last, the research of this project will support the technique breakthrough of on-orbit service and maintenance system, which is very important for national space security.

本项目针对空间连续型机器人在目标缠绕捕获过程中的刚-柔-软耦合多体系统动力学与控制问题，开展机器人的时空多尺度动力学数值仿真算法及缠绕捕获任务的协调与运动规划研究。(1)通过对空间连续型机器人进行非光滑动力学分析建立其等效动力学模型，在此基础上建立刚-柔-软耦合多体系统动力学微分代数方程，研究方程的辛数值方法，实现刚-柔-软耦合系统中高频和低频分量的求解，在保证精度和效率的前提下精确满足原系统的约束条件，最终准确高效地揭示耦合系统的时空多尺度动力学特征。(2)在耦合动力学微分代数系统分析与仿真的基础上，研究空间连续型机器人缠绕捕获目标的动力学协调轨迹规划和柔顺性控制及其辛数值算法，通过全局和局部轨迹规划，统筹单个连续型机器人性能与多个连续型机器人群体性能之间的关系，以实现多个连续型机器人缠绕抓捕同一目标物时的动力学协调。动力学建模与仿真算法可为空间安全领域在轨服务与维护技术的突破提供基础。

航天技术对国家安全和经济社会发展具有重大意义，是当前全球战略竞争的制高点之一。空间机器人在目标捕获与控制、在轨服务、大型航天结构建造、航天员作业辅助等方面发挥着不可替代的作用。. 本项目面向空天安全领域的在轨目标捕获需求，提出了新的绳索状空间连续型机器人设计方案，建立了这类机器人的系统动力学模型和控制模型，发展了高效的数值计算方法，并以上述研究成果为基础开发了面向空间连续型机器人动力学与控制数值仿真集成软件平台。. 本项目建立了考虑空间连续型机器人非光滑力学特性的刚-柔-软耦合多体系统动力学模型，研究并发展了求解此类动力学模型微分-代数方程的保辛/保结构数值方法，新的算法在确保数值解精度和效率的同时严格满足系统约束条件，进而揭示了这类耦合多体动力学系统的时空多尺度动力学特征。在耦合多体动力学系统建模与数值仿真基础上，研究了空间连续型机器人缠绕捕获目标的轨迹规划和协调柔顺性控制及其数值算法，通过全局和局部轨迹规划实现了多个连续型机器人缠绕抓捕目标物时的动力学协调。. 本项目所发展的空间连续型机器人动力学建模方法、数值求解方法、机器人运动规划、控制和系统仿真算法可以为空间飞行器在轨服务与维护技术的发展提供新的理论、算法和软件基础。