摘要
针对合作目标消旋/捕获过程中柔性接触分布力实时精确辨识的挑战,提出了一种基于阵列压力传感器的嵌套式递推分布力辨识方法,实现了分布力接触域及其分布特性在时空耦合条件下的实时描述。首先,建立了分布接触力模型,利用其幂指函数特性进行对数空间变换,随后引入形函数对分布力的时空特征进行解耦。在嵌套内层的空间域上,提出了一种改进Sigmoid函数的权重方程,并构建了基于S形权重函数的加权最小二乘法(S-WLS),以修正通过相邻响应量区域搜寻算法获得的接触域几何参数。在嵌套外层的时间域中,同时引入遗忘因子和权重因子,构建了用于动态求解分布力标准方程的递推式,并通过指数变换实现了分布力特征参数的精确辨识。最后,设计了基于阵列压力传感器的分布力采集系统,研制了等效微重力碰撞平台,并开展了斜碰实验。实验结果表明,所提方法相较于传统加权最小二乘法(WLS)在分布力特征参数辨识上具有显著优势,分布力辨识的相对误差范围仅为±8.8%。进一步采用Hazen计分方法对相对误差进行了95%置信水平的正态检验,验证了本方法的准确性和有效性。为后续空间碎片消旋/捕获中动态分布力精确预示提供了理论基础和技术方案。
To address the challenge of real-time and precise identification of distributed forces during flexible contact in cooperative target de-tumbling and capture processes,this paper proposes a nested recursive distributed force identification method based on an array pressure sensor.This method achieves real-time characterization of the contact area and distribution characteristics of distributed forces under spatiotemporal coupling conditions.First,a distributed contact force model is established,and its power-exponential function properties are utilized to perform a logarithmic space transformation.A shape function is then introduced to decouple the spatiotemporal characteristics of the distributed force.In the spatial domain of the nested inner layer,an improved weight equation based on the Sigmoid function is proposed,and a weighted least squares method using the S-shaped weight function(S-WLS)is developed to refine the geometric parameters of the contact area obtained through a neighboring response region search algorithm.In the time domain of the nested outer layer,both a forgetting factor and a weight factor are introduced to construct a recursive formula for dynamically solving the standard equation of distributed force.Accurate identification of the distributed force characteristic parameters is achieved through exponential transformation.Finally,a distributed force acquisition system based on an array pressure sensor is designed,and an equivalent microgravity collision platform is developed to conduct oblique collision experiments.Experimental results demonstrate that the proposed method significantly outperforms the traditional weighted least squares(WLS)method in identifying distributed force characteristic parameters,with a relative error range of only±8.8%.Furthermore,the Hazen scoring method is applied to perform a normality test on the relative error at a 95%confidence level,confirming the accuracy and effectiveness of the proposed method.This work provides a theoretical foundation and technical solution for the accurate prediction of dynamic distributed forces in space debris de-tumbling and capture applications.To address the challenge of real-time and accurate identification of the distributed force during flexible contact in the cooperative target de-tumbling/capture process,this paper proposes a nested recursive method for distributed force identification based on an array pressure sensor.This method enables real-time characterization of the distributed force contact area and its distribution characteristics under spatiotemporal coupling conditions.Firstly,a distributed contact force model is developed,and its power function properties are utilized to perform a logarithmic space transformation.Subsequently,a shape function is introduced to decouple the spatiotemporal characteristics of the distributed force.In the spatial domain of the nested inner layer,an improved weight equation of the Sigmoid function is proposed,followed by the development of a weighted least squares method based on the S-shaped weight function(S-WLS),which is used to correct the contact area geometric parameters derived from the neighboring response region search algorithm.In the time domain of the nested outer layer,both the forgetting factor and the weight factor are utilized,and a recursive formula is derived to solve the standard equation of distributed force dynamically.The accurate identification of the distributed force characteristic parameters is subsequently achieved through exponential transformation.Finally,a distributed force acquisition system using an array pressure sensor is designed,and an equivalent microgravity collision platform is developed for conducting oblique collision experiments.Experimental results demonstrate that the proposed method outperforms the traditional weighted least squares(WLS)method in identifying distributed force characteristic parameters,with the relative error in distributed force identification being only±8.8%.The Hazen scoring method is additionally applied to perform a normality test on the relative error at a 95%confidence level,thereby validating the accuracy and effectiveness of the proposed method.It provides a theoretical foundation and a technical solution for accurately predicting dynamic distributed force in subsequent space debris de-tumbling and capture.
作者
齐超群
彭思淇
张慧博
戴士杰
Qi Chaoqun;Peng Siqi;Zhang Huibo;Dai Shijie(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;School of Astronautics,Harbin Institute of Technology,Harbin 150001,China;School of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China)
出处
《仪器仪表学报》
北大核心
2025年第1期1-10,共10页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金航天联合基金重点支持项目(U21B2075)
国家自然科学基金面上项目(52475249)资助。
关键词
空间碎片
阵列压力传感器
分布力
参数辨识
微重力碰撞实验
space debris
array pressure sensor
distributed force
parameter identification
microgravity collision experiment
作者简介
齐超群,2015年于河北工业大学城市学院获得学士学位,现为河北工业大学机械工程学院博士研究生,主要研究方向为智能机器人动力学与控制。E-mail:qcq911@163.com;通信作者:张慧博,2009年于哈尔滨工程大学获得学士学位,分别于2011年和2015年在哈尔滨工业大学获得硕士学位和博士学位,现为哈尔滨工程大学教授,主要研究方向为机构动力学与控制的基础理论与工程应用研究。E-mail:/zhanghuibo@hrbeu.edu.cn。
