Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	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); Shen XH(沈昕慧); Wu ZG(吴志刚); Liu JG(刘金国); Luo HT(骆海涛)
刊名	Chinese Journal of Aeronautics
	2018
关键词	Flexible space manipulator Linearization Parameter identification State-space model Subspace methods
ISSN号	1000-9361
通讯作者	Liu JG(刘金国)
产权排序	1
中文摘要	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.
收录类别	EI
语种	英语
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/21846]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Luo HT(骆海涛)
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,Shen XH,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,Shen XH,Wu ZG,Liu JG,&骆海涛.(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).