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Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method
Ni ZY(倪智宇)1; Liu JG(刘金国)1; Wu ZG(吴志刚)2; Shen XH(沈昕慧)1
作者部门空间自动化技术研究室
关键词Flexible Space Manipulator Linearization Parameter Identification State-space Model Subspace Methods
发表期刊Chinese Journal of Aeronautics
ISSN1000-9361
2018
收录类别EI
EI收录号20182305280872
产权排序1
摘要

The on-orbit parameter identification of a space structure can be used for the modification of a system dynamics model and controller coefficients. This study focuses on the estimation of a system state-space model for a two-link space manipulator in the procedure of capturing an unknown object, and a recursive tracking approach based on the recursive predictor-based subspace identification (RPBSID) algorithm is proposed to identify the manipulator payload mass parameter. Structural rigid motion and elastic vibration are separated, and the dynamics model of the space manipulator is linearized at an arbitrary working point (i.e., a certain manipulator configuration). The state-space model is determined by using the RPBSID algorithm and matrix transformation. In addition, utilizing the identified system state-space model, the manipulator payload mass parameter is estimated by extracting the corresponding block matrix. In numerical simulations, the presented parameter identification method is implemented and compared with the classical algebraic algorithm and the recursive least squares method for different payload masses and manipulator configurations. Numerical results illustrate that the system state-space model and payload mass parameter of the two-link flexible space manipulator are effectively identified by the recursive subspace tracking method.

语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21869
专题空间自动化技术研究室
通讯作者Liu JG(刘金国)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2.State Key Laboratory of Structural Analysis for Industrial Equipment, School of Aeronautics and Astronautics, Dalian University of Technology, Dalian 116024, China
推荐引用方式
GB/T 7714
Ni ZY,Liu JG,Wu ZG,et al. Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method[J]. Chinese Journal of Aeronautics,2018.
APA Ni ZY,Liu JG,Wu ZG,&Shen XH.(2018).Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method.Chinese Journal of Aeronautics.
MLA Ni ZY,et al."Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method".Chinese Journal of Aeronautics (2018).
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