【摘要】 针对空间桁架在轨装配中的双臂协同精密控制问题，提出一种基于改进非线性模型预测控制算法的高精度自由漂浮基双机械臂轨迹跟踪控制方法，并设计了空间桁架在轨装配气浮式地面微重力试验系统。首先，将拉格朗日方程与牛顿约束相结合构建精确的运动学和动力学模型；其次，以传统非线性模型预测控制算法为基础，构建引入滑模变结构控制模块的改进非线性模型预测控制策略，降低对模型精度的依赖性，提升控制精度和鲁棒性；最后，利用气浮式微重力模拟方法，搭建面向空间桁架在轨装配的双臂协同精密控制试验系统，完成桁架局部装配地面微重力试验。试验结果表明，所提控制方法可以完成自由漂浮基双机械臂高精度控制，且在机械臂末端轨迹跟踪精度上优于传统非线性模型预测控制方法。更多还原

【Abstract】 A high-precision floating-base dual-arm trajectory tracking control method is proposed to address the dualarm cooperative precision control challenge in on-orbit assembly of space trusses. An air-floating ground-based microgravity test system is also designed for this application. First, an accurate kinematic and dynamic model is constructed by coupling Lagrange equations with Newtonian constraints. Second, an improved nonlinear model predictive control strategy is developed through integrating a sliding mode variable structure control module into the conventional nonlinear model predictive control framework, which reduces model accuracy dependency while enhancing control precision and robustness. Third, an air-floating microgravity simulation method is employed to establish a dual-arm cooperative precision control test system for on-orbit truss assembly, enabling ground-based microgravity tests for partial truss assembly. Experimental results indicate that the proposed method achieves high-precision control of floating-base dual-arm systems, demonstrating superior end-effector trajectory tracking accuracy compared to conventional nonlinear model predictive control. This research provides theoretical foundation and experimental validation methodology for onorbit assembly of large space structures.更多还原