模块化航天结构在轨组装过程的位姿一体化自适应控制

叶哲; 邬树楠; 万文琦; 周威亚; 吴志刚

doi:10.7527/S1000-6893.2026.33294

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DOI: https://doi.org/10.7527/S1000-6893.2026.33294

模块化航天结构在轨组装过程的位姿一体化自适应控制

叶哲 ,
邬树楠 ,
万文琦 ,
周威亚 ,
吴志刚

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中山大学

收稿日期: 2025-12-29

修回日期: 2026-09-07

网络出版日期: 2026-09-17

基金资助

国家自然科学基金

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Integrated Pose Adaptive Control for Modular Space Structures during On-orbit Assembly Process

YE Zhe ,
WU Shu-Nan ,
WAN Wen-Qi ,
ZHOU Wei-Ya ,
WU Zhi-Gang

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Received date: 2025-12-29

Revised date: 2026-09-07

Online published: 2026-09-17

Supported by

National Natural Science Foundation of China

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摘要

针对模块化航天结构在轨组装过程中结构拓扑离散演变与动力学状态连续变化并存的特征，开展变拓扑结构动力学建模与位姿一体化控制问题研究。首先，基于结构模块的“失活-激活”机制，提出一种面向组装过程动力学演化的建模策略，以实现拓扑重构过程的连续描述。引入统一参考坐标系，避免质心迁移导致的坐标系频繁重构。基于第一类Lagrange方程建立轨道-姿态-结构耦合动力学模型，并引入Kelvin-Voigt接触模型刻画模块对接瞬间的碰撞动力学行为。在此基础上，针对组装过程中系统参数跃变及多源不确定扰动问题，提出一种控制增益随组装阶段自适应更新的位姿一体化控制策略，设计RBF神经网络补偿的积分滑模控制器，实现对集总扰动的在线逼近与补偿。基于Lyapunov理论证明闭环系统的稳定性。数值结果表明，所提出的控制方法能有效应对组装过程中的复杂动力学变化，并在多种扰动条件下可实现高精度稳定控制。本研究可为模块化航天结构组装过程的动力学建模与控制系统设计提供理论依据。

关键词： 在轨组装; 模块化航天结构; 动力学建模; 滑模控制; 神经网络

本文引用格式

叶哲 , 邬树楠 , 万文琦 , 周威亚 , 吴志刚 . 模块化航天结构在轨组装过程的位姿一体化自适应控制[J]. 航空学报, 0 : 1 -0 . DOI: 10.7527/S1000-6893.2026.33294

Abstract

To address the coexistence of discrete topological evolution and continuous dynamic state variation during the on-orbit assembly of modular space structures (MSS), this paper investigates the dynamic modeling and integrated pose control problem for variable-topology systems. First, an assembly-process-oriented dynamic modeling strategy is proposed based on the deactivation-activation mechanism of structural modules, which enables a continuous description of the topology reconfiguration process. A unified reference frame is introduced to avoid frequent coordinate system reconstruction caused by center-of-mass variations. A coupled orbit-attitude-structure dynamic model is established using the first kind of Lagrange equations, with the Kelvin-Voigt contact model incorporated to characterize the impact dynamics during module docking. On this basis, to cope with system parameter jumps and multi-source uncertain disturbances during the assembly process, an integrated pose control strategy with control gains adaptively updated according to the assembly stages is proposed. An integral sliding mode controller compensated by a radial basis function (RBF) neural network is designed to achieve approximation and compensation of lumped disturbances. The stability of the closed-loop system is proven via Lyapunov theory. Numerical results demonstrate that the proposed control method can effectively handle the complex dynamic variations during the assembly process, and achieve high-precision stable control under various disturbance conditions. This study provides a theoretical basis for the dynamic modeling and control system design of the on-orbit assembly process of MSS.

Key words： on-orbit assembly; modular space structures; dynamic modeling; sliding mode control; neural network

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