空间绳系机器人抓捕后复合体姿态协调控制

doi:10.7527/S1000-6893.2013.0323

材料工程与机械制造

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空间绳系机器人抓捕后复合体姿态协调控制

王东科^1,2, 黄攀峰^1,2, 孟中杰^1,2, 蔡佳^1,2

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

收稿日期:2012-11-07 修回日期:2012-11-30 出版日期:2013-08-25 发布日期:2013-01-10
通讯作者: 黄攀峰 E-mail:pfhuang@nwpu.edu.cn
作者简介:王东科男,博士研究生。主要研究方向:空间绳系机器人动力学建模及控制。Tel:029-88460366-803 E-mail:wdkly.student@sina.com;黄攀峰男,博士,教授,博士生导师。主要研究方向:空间机器人学,空间遥操作,导航、制导与控制。Tel:029-88460366-801 E-mail:pfhuang@nwpu.edu.cn
基金资助:
国家自然科学基金(11272256,61005062);航天飞行动力学技术重点实验室开放基金(2012afdl022)

Coordinated Attitude Control of the Combination System After Target Capture by a Tethered Space Robot

WANG Dongke^1,2, HUANG Panfeng^1,2, MENG Zhongjie^1,2, CAI Jia^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:2012-11-07 Revised:2012-11-30 Online:2013-08-25 Published:2013-01-10
Supported by:
National Natural Science Foundation of China (11272256,61005062);Open Research Foundation of Science and Technology on Aerospace Flight Dynamics Laboratory (2012afdl022)

摘要/Abstract

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。

关键词: 空间绳系机器人, 抓捕后, 姿态控制, 协调控制, 滑模控制

Abstract:

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.

Key words: tethered space robot, post-capture, attitude control, coordinated control, sliding mode control

中图分类号:

V448.234

王东科, 黄攀峰, 孟中杰, 蔡佳. 空间绳系机器人抓捕后复合体姿态协调控制[J]. 航空学报, 2013, 34(8): 1998-2006.

WANG Dongke, HUANG Panfeng, MENG Zhongjie, CAI Jia. Coordinated Attitude Control of the Combination System After Target Capture by a Tethered Space Robot[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(8): 1998-2006.

参考文献

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[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 Chinese) 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 maneuvers through very short tethers. Acta Astronautica, 1999, 44(5):257-265.

[8] Beda P B. On requirements for attitude dynamics and stability control for tethered satellite systems. JSME International Journal,Series C: Mechanical Systems, Machine Elements and Manufacturing, 2000, 43(3):678-683.

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[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.

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[13] Aghili F.Optimal control of a space manipulator for detumbling 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 control and Dynamics, 1996; 19(6):1381-1383.

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

空间绳系机器人抓捕后复合体姿态协调控制

Coordinated Attitude Control of the Combination System After Target Capture by a Tethered Space Robot

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