State expansion adaptive stabilization control of space manipulator with variable mass characteristics under on-orbit refuelling task

QIN Li; YAN Lili; LIU Fucai; LIANG Bo

doi:10.7527/S1000-6893.2018.22070

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2018 , Vol. 39 >Issue 10: 422070 - 422070

DOI: https://doi.org/10.7527/S1000-6893.2018.22070

Material Engineering and Mechanical Manufacturing

State expansion adaptive stabilization control of space manipulator with variable mass characteristics under on-orbit refuelling task

QIN Li ,
YAN Lili ,
LIU Fucai ,
LIANG Bo

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1. School of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China;
2. School of Materials Science and Engineering, Yanshan University, Qinhuangdao 066004, China

Received date: 2018-01-31

Revised date: 2018-04-16

Online published: 2018-06-01

Supported by

Young Scientists Fund of the National Natural Science Foundation of China (51605415); Pre-Research Project for Manned Space Flight (040301); the Natural Science Foundation of Hebei Province, China (F2016203494, F2015203362)

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Abstract

On-orbit refuelling based on module replacement involves various operations such as docking and separation of spacecraft and disassembly and assembly of propellant modules, and are oriented towards many different types of spacecrafts and many sizes of propellant modules. The development phase needs to consider the complex changes in mass characteristics, and the fact that the whole cycle, ergodic task-level micro-gravity simulation test in ground validation is difficult to achieve. Considering these problems, this paper firstly analyzes the influence of changes in load and base mass characteristics on the dynamic characteristics and control performance of the system. Then, to realize the adaptability to the changing control objects and environment in the process of operation task, the adaptive law of gravity acceleration g is designed based on inertia matrix decomposition and gravity load matrix linearization, and the system state variables are extended to establish the Hamiltonian model of the system. Furthermore, based on the idea of passive control of energy function shaping and damping injection, the control law of presetting stabilization is designed, and a control scheme of adaptive stabilization of system nonlinearity under different working conditions is proposed. The simulation results verify the effectiveness of the proposed control scheme.

Key words： space manipulator; on-orbit refuelling; nonlinear dynamics analysis; state expansion; adaptive stabilization control

Cite this article

QIN Li , YAN Lili , LIU Fucai , LIANG Bo . State expansion adaptive stabilization control of space manipulator with variable mass characteristics under on-orbit refuelling task[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2018 , 39(10) : 422070 -422070 . DOI: 10.7527/S1000-6893.2018.22070

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