利用受限张力的拖曳变轨欠驱动姿态稳定策略

doi:10.7527/S1000-6893.2016.0144

电子与控制

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利用受限张力的拖曳变轨欠驱动姿态稳定策略

王秉亨^1,2, 孟中杰^1,2, 黄攀峰^1,2

1. 西北工业大学航天学院智能机器人研究中心, 西安 710072;
2. 西北工业大学航天飞行动力学技术重点实验室, 西安 710072

收稿日期:2016-01-13 修回日期:2016-05-08 出版日期:2016-12-15 发布日期:2016-05-13
通讯作者: 孟中杰,Tel.:029-88460366,E-mail:mengzhongjie@nwpu.edu.cn E-mail:mengzhongjie@nwpu.edu.cn
作者简介:王秉亨,男,硕士研究生。主要研究方向:空间绳系机器人拖曳变轨控制。Tel.:029-88460366,E-mail:bingheng_wang@mail.nwpu.edu.cn;孟中杰,男,博士,副教授。主要研究方向:空间绳系机器人控制,非线性控制。Tel.:029-88460366,E-mail:mengzhongjie@nwpu.edu.cn;黄攀峰,男,博士,教授。主要研究方向:空间机器人学,遥操作,导航、制导与控制。Tel.:029-88460366,E-mail:pfhuang@nwpu.edu.cn
基金资助:
国家自然科学基金（61005062，11272256）；中央高校基本科研业务费专项资金（3102014JCQ01005）；西北工业大学研究生创意创新种子基金（Z2016050）

Underactuated attitude stabilization for space tethered towing using constrained tension

WANG Bingheng^1,2, MENG Zhongjie^1,2, HUANG Panfeng^1,2

1. Research Center of Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China

Received:2016-01-13 Revised:2016-05-08 Online:2016-12-15 Published:2016-05-13
Supported by:
National Natural Science Foundation of China (61005062, 11272256); the Fundamental Research Funds for the Central Universities (3102014JCQ01005); Seed Foundation of Innovation and Creation for Graduate Students in Northwestern Polytechnical University (Z2016050)

摘要/Abstract

摘要：

在空间绳系拖曳变轨中，目标和平台形成一种哑铃型绳系系统，且仅依靠有限的平台推力和系绳张力来抑制系绳的摆动。针对此类输入受限的欠驱动控制问题，提出了一种利用受限张力的姿态稳定策略。首先，推导了组合体姿态动力学模型。然后通过数值求解姿态平衡方程得出理论面内姿态指令，再采用高斯伪谱法对其优化获得实际指令。最后，基于分层滑模理论设计欠驱动张力控制律，并嵌入抗饱和模块以缓解张力饱和。仿真表明空间平台能在正向有限的张力控制下，平滑地收放系绳使面内角和绳长跟踪实际姿态指令。此外，所提策略对目标体摆动和传感器误差也具有良好的鲁棒性。

关键词: 空间绳系机器人, 轨道转移, 欠驱动姿态稳定, 滑模控制, 抗饱和

Abstract:

During space tethered towing, the target and the space platform constitute a dumbbell-like tethered system, which only relies on the limited platform thrusts and tether tension to suppress the tether libration. An effective attitude stabilization strategy using bounded tension is proposed for such an underactuated system subject to input constraints. The dynamic model governing the attitude of the system is established. By solving the in-plane equilibrium equation numerically, the theoretical in-plane attitude commands are obtained, which are then optimized using Gauss pseudospectral method. The actual in-plane commands are thus yielded. An underactuated tension controller is designed based on hierarchical sliding mode theory, and an anti-windup auxiliary module is embedded to mitigate the tension saturation. Simulation results show that under the positive and constrained tension control, the tether can be deployed and retrieved smoothly by the platform, making the in-plane angle and tether length track the actual commands appreciably. The proposed strategy is also robust to the target swing and sensor errors.

Key words: tethered space robot, orbital transfer, underactuated attitude stabilization, sliding mode control, anti-windup

中图分类号:

V448.22

王秉亨, 孟中杰, 黄攀峰. 利用受限张力的拖曳变轨欠驱动姿态稳定策略[J]. 航空学报, 2016, 37(12): 3783-3792.

WANG Bingheng, MENG Zhongjie, HUANG Panfeng. Underactuated attitude stabilization for space tethered towing using constrained tension[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(12): 3783-3792.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

利用受限张力的拖曳变轨欠驱动姿态稳定策略

Underactuated attitude stabilization for space tethered towing using constrained tension

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