基于非线性动态逆的主动电驱式对接机构位姿跟踪方法

doi:10.7527/S1000-6893.2024.30707

Abstract

Abstract:

Due to their passive mechanical design characteristics， most space vehicle docking mechanisms that have already been in orbit can only be designed and developed for a fixed tonnage docking task. The manned lunar exploration mission and space station docking mission， due to their complexity， require the docking mechanism to have the ability to adapt to multiple tasks， tonnage， and working conditions. In the planning of these tasks， there is a requirement for the docking combination of various tonnage active and passive aircraft. The carefully designed passive mechanical docking mechanism with spring damping and differential combination system cannot simultaneously complete the docking tasks of large-to-small and small-to-large tonnage space vehicles， and traditional gain planning tracking control laws cannot meet the dynamic control requirements of fast transient response and high-precision control. Most existing kinematic tracking control methods require an empirical parameter tuning process， and are often cumbersome and prone to system instability. In the context of these missions， there is an urgent need to develop a type of active motor driven docking mechanism with precise dynamic control performance. This article proposes a position and attitude tracking control method for an active motor driven docking mechanism based on the nonlinear dynamic inversion method， and conducts simulation verification. The joint simulation test results of multi-body dynamics and control systems show that the nonlinear control law designed in this paper can achieve the established control objectives. Compared with traditional methods， it can perform precise dynamic control with fast response， higher accuracy， and no need for repeated parameter tuning. This provides a reference for the subsequent engineering research and development stage.

Key words: manned space flight, lunar missions, space rendezvous, docking, mechanism, nonlinear control system

CLC Number:

V526

Jinglong LIU, Junwei SHI, Xueping HU, Chenguang XU, Bingxiao ZHANG, Huayong QIU, Xiaolong MA. A nonlinear dynamic inversion based position and attitude tracking control method for active motor driven docking mechanism[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(S1): 730707.

Figures/Tables 20

Fig.1

Fig.2

Fig. 3

Fig.4

Table 1

Dynamic model parameters

参数	数值
上平台综合质量m_c /kg	12 000
上平台质心处的惯量 $I$ _c₀/（kg·mm²）	diag（［8.2×10⁷， 8.2×10⁷，1.6×10⁸］）
上铰点相邻圆心角A_u /（°）	6
上铰点所在圆半径R_u /mm	496
下铰点相邻圆心角A_d /（ $°$ ）	26
下铰点所在圆半径R_d /mm	390
对接准备位置h_{0_ready}/mm	398
上平台质心在O_u 上的投影 $c$ /mm	［0 0 50］^T

Table 1

Table 2

Initial position and target position on up platform

参数	数值
上铰点圆心沿X向初始位移X_p₀/mm	118
上铰点圆心沿Y向初始位移Y_p₀/mm	0
上铰点圆心沿Z向初始位移Z_p₀/mm	398
上铰点圆心绕Z向初始姿态A_Z₀/（ $°$ ）	1
上铰点圆心绕Y向初始姿态A_Y₀/（ $°$ ）	2
上铰点圆心绕X向初始姿态A_X₀/（ $°$ ）	3
上铰点圆心沿X向目标位移X_p₁/mm	98
上铰点圆心沿Y向目标位移Y_p₁/mm	-18
上铰点圆心沿Z向目标位移Z_p₁/mm	378
上铰点圆心绕Z向目标姿态A_Z₁/（ $°$ ）	2
上铰点圆心绕Y向目标姿态A_Y₁/（ $°$ ）	3
上铰点圆心绕X向目标姿态A_X₁/（ $°$ ）	4

Table 2

Fig.5

Fig.6

Table 3

Two-loop NDI control parameters

参数	数值
外环控制律比例矩阵 $K p 1$	diag（［5，5，5，10，10，10］）
内环控制律比例矩阵 $K p 2$	diag（［50，50，50，100，100，100］）

Table 3

Table 4

Outer loop PID control parameters

参数	数值
外环控制律比例矩阵 $K p 1 - P I D$	diag（［0.5，0.5，0.5，1，1，1］）

Table 4

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Fig. 16

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A nonlinear dynamic inversion based position and attitude tracking control method for active motor driven docking mechanism

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