摘要
针对在轨服务任务中服务航天器和目标航天器对接后组合体的姿态稳定问题,提出一种基于机械臂耦合力矩评估的组合航天器姿态协调控制方法.首先,对空间机械臂和组合航天器进行了动力学建模与分析;其次,利用空间机械臂和组合体平台之间的强耦合特点,采用空间机械臂的运动来协调组合航天器平台的姿态运动,并给出了相应的协调规划方法;然后,考虑传统航天器燃料有限、反作用轮易饱和等因素,采用以空间机械臂为主、反作用轮为辅的方式对组合航天器进行姿态协调控制,并设计了基于机械臂耦合力矩评估的姿态协调控制器;最后利用仿真实验与传统航天器姿态控制方法进行了比较分析,结果表明:所提方法仅通过空间机械臂和反作用轮就能实现对组合航天器的姿态稳定控制,而不需要消耗昂贵的喷气燃料.
In order to realize the attitude stability of a service spacecraft and a target spacecraft after docking in on-orbit servicing missions, an attitude coordination control approach for the combined spacecraft is proposed based on the estimated coupling torque of a manipulator. Firstly, the dynamic modeling and analysis of the space manipulator and the combined spacecraft are established. Secondly, the attitude of the combined spacecraft is adjusted by the coordinated motion of the space manipulator, which takes advantage of the dynamic coupling between the combined spacecraft and the space manipulator, and the corresponding coordinated planning approach is presented. Furthermore, the attitude of the combined spacecraft is controlled by the space manipulator with assistance of the reaction wheels, since the fuel in traditional spacecrafts is limited and the reaction wheels are prone to be saturated. Next, the coordinated attitude controller is designed based on the estimated coupling torque of the space manipulator. Finally, the proposed coordinated control method is analyzed and compared with the conventional spacecraft attitude control method through simulation. The results show that the proposed method can achieve the attitude stable control of the combined spacecraft through the space manipulator and the reaction wheels, without using expensive jet fuel.
出处
《机器人》
EI
CSCD
北大核心
2015年第1期25-34,共10页
Robot
基金
国家自然科学基金资助项目(11272256
61005062)
关键词
航天器
协调控制
耦合
机械臂
姿态
spacecraft
coordinated control
coupling
manipulator
attitude
