空间绳系机器人抓捕后复合体姿态协调控制
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摘要
针对空间绳系机器人对目标抓捕后的复合体姿态稳定控制问题进行了研究。首先,对复合体进行动力学建模,并对其动力学特性进行了分析;然后,考虑复合体的特点、空间绳系机器人燃料有限以及自身姿态控制力的限制,分别设计了系绳主动拉力与推力器推力协调控制器和基于滑模变结构的全推力控制器,并设计了其切换条件,利用两种控制器切换对姿态进行稳定控制;最后,利用仿真实验验证了所提方法的正确性。仿真结果表明,系绳拉力和推力器协调控制方法能够实现对姿态的稳定控制,并且有效地节省姿态控制过程中的燃料消耗。
The coordinated attitude control of the combination system after the target is captured by the Space Tethered Robot is studied in this paper.Firstly,a combination system dynamic model is established and its dynamic characteristics are analyzed.Secondly,taking into consideration such combination system characteristics as the limitation of fuel and thruster force,two attitude controllers are designed: one is the coordinated controller of the tether force and thruster force and the other the sliding mode controller of the thruster force only.The combination system attitude is controlled by these two controllers which are utilized according to the switch condition.Finally,the numerical simulation is conducted to validate the feasibility of the proposed coordinated control method.The simulation result shows the combination system attitude can be controlled by the coordinated control method and the fuel consumption is effectively reduced.
The coordinated attitude control of the combination system after the target is captured by the Space Tethered Robot is studied in this paper.Firstly,a combination system dynamic model is established and its dynamic characteristics are analyzed.Secondly,taking into consideration such combination system characteristics as the limitation of fuel and thruster force,two attitude controllers are designed: one is the coordinated controller of the tether force and thruster force and the other the sliding mode controller of the thruster force only.The combination system attitude is controlled by these two controllers which are utilized according to the switch condition.Finally,the numerical simulation is conducted to validate the feasibility of the proposed coordinated control method.The simulation result shows the combination system attitude can be controlled by the coordinated control method and the fuel consumption is effectively reduced.
引文
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[12]Liu H D,Liang B,Li C,et al.Research on coordinate control method for stabilizing a coupling system after the spacecraft is captured.Journal of Astronautics,2012,33(7):920-929.(in Chinese)刘厚德,梁斌,李成,等.航天器抓捕后复合体系统稳定的协调控制研究.宇航学报,2012,33(7):920-929.
[13]Aghili F.Optimal control of a space manipulator for de-tumbling of a target satellite.International Conference on Robotics and Automation,2009:3019-3024.
[14]Xing G Q,Parvez S A.Nonlinear attitude state tracking control for spacecraft.Journal of Guidance Control,and Dynamics,2001,24(3):624-626.
[15]Crassidis J L,Markley F L.Sliding mode control using modified Rodrigues parameters.Journal of Guidance con-trol and Dynamics,1996;19(6):1381-1383.
[2]Xu X D,Huang P F,Meng Z J,et al.Space tethered ro-bot optimal trajectory planning for medium approaching range based on velocity impulse.Acta Aeronautica et As-tronautica Sinica,2012,33(8):1531-1539.(in Chinese)徐秀栋,黄攀峰,孟中杰,等.基于速度增量的空间绳系机器人中距离逼近过程最优轨迹规划.航空学报,2012,33(8):1531-1539.
[3]Cartmell M P,McKenzie D J.A review of space tether re-search.Progress in Aerospace Science,2008,44(1):1-21.
[4]Nohmi M,Yamamoto T,Takagi Y.Microgravity experi-ment for attitude control of a tethered body by arm link motion.Proceedings of IEEE International Conference on Mechatronics and Automation,2007:265-276.
[5]Nohmi M.Attitude control of a tethered space robot by link motion under microgravity.Proceedings of the2004 IEEE International Conference on Control Applications,2004:424-429.
[6]Wen H,Chen H,Jin D P,et al.Deployment and attitude control of a tethered sub-satellite with controllable arm.Acta Mechanica Sinica,2012,44(2):408-414.(in Chi-nese)文浩,陈辉,金栋平,等.带可控臂绳系卫星释放及姿态控制.力学学报,2012,44(2):408-414.
[7]Kumar K D,Kumar K.Satellite pitch and roll attitude ma-neuvers through very short tethers.Acta Astronautica,1999,44(5):257-265.
[8]Beda P B.On requirements for attitude dynamics and sta-bility control for tethered satellite systems.JSME Interna-tional Journal,Series C:Mechanical Systems,Machine El-ements and Manufacturing,2000,43(3):678-683.
[9]Mori O,Matunaga S.Formation and attitude control for rotational tethered satellite.Journal of Spacecraft and Rockets,2007,43(3):678-683.
[10]Chang I,Park S Y,Choi K H.Nonlinear attitude control of a tether-connected multi-satellite in three-dimensional space.IEEE Transactions on Aerospace and Electronic Systems,2010,46(4):1950-1968.
[11]Menon C,Bombardelli C.Self-stabilising attitude control for spinning tethered formations.Acta Astronautica,2007,60(10):828-833.
[12]Liu H D,Liang B,Li C,et al.Research on coordinate control method for stabilizing a coupling system after the spacecraft is captured.Journal of Astronautics,2012,33(7):920-929.(in Chinese)刘厚德,梁斌,李成,等.航天器抓捕后复合体系统稳定的协调控制研究.宇航学报,2012,33(7):920-929.
[13]Aghili F.Optimal control of a space manipulator for de-tumbling of a target satellite.International Conference on Robotics and Automation,2009:3019-3024.
[14]Xing G Q,Parvez S A.Nonlinear attitude state tracking control for spacecraft.Journal of Guidance Control,and Dynamics,2001,24(3):624-626.
[15]Crassidis J L,Markley F L.Sliding mode control using modified Rodrigues parameters.Journal of Guidance con-trol and Dynamics,1996;19(6):1381-1383.