Coordinated Control Method of Space Tethered Robot for Approaching Targets

XU Xiudong; HUANG Panfeng; MENG Zhongjie

doi:10.7527/S1000-6893.2013.0208

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2013 , Vol. 34 >Issue 5: 1222 - 1231

DOI: https://doi.org/10.7527/S1000-6893.2013.0208

Material Engineering and Mechanical Manufacturing

Coordinated Control Method of Space Tethered Robot for Approaching Targets

XU Xiudong ,
HUANG Panfeng ,
MENG Zhongjie

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National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China

Received date: 2012-06-26

Revised date: 2012-08-03

Online published: 2012-08-16

Supported by

Doctorate Foundation of Northwestern Polytechnical University (CX201217);National Natural Science Foundation of China(60805034,61005062);Open Research Foundation of Science and Technology on Aerospace Flight Dynamics Laboratory(2012afdl022)

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Abstract

In order to save the thruster fuel of an end effector for a space tethered robot in the process of approaching a target satellite, a coordinated control method is proposed in the paper which utilizes the thruster, the reaction wheel and the space tether. First, this method calculates the ideal orbit control force of the end effector for the approaching target by linear quadratic regulator (LQR) algorithm. Then this force is allocated to the thrusters and space tether through optimization using a simulated annealing algorithm. Simultaneously, the attitude interferential torque of the space tether is compensated through a reaction wheel using the time delay algorithm. The simulation results show that the coordinated control method can significantly save thruster fuel of the end effector, and it also restrains attitude disturbance produced by the coordinated control force of the space tether and maintains relative attitude stability of the end effector.

Key words： space tethered robot; LQR algorithm; coordinated control; simulated annealing; time delay

Cite this article

XU Xiudong , HUANG Panfeng , MENG Zhongjie . Coordinated Control Method of Space Tethered Robot for Approaching Targets[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013 , 34(5) : 1222 -1231 . DOI: 10.7527/S1000-6893.2013.0208

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