Coordination control method of spatial rope-tying robot compounded body postures after target catching

A technology of space tethering and coordinated control, applied in attitude control, adaptive control, general control system, etc., can solve the problems of tether winding, unstable complex posture, difficult complex posture stability, etc.

Active Publication Date: 2013-06-05
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

After the space robot captures the target, due to the collision and the spin of the target itself, the attitude of the complex after capture is unstable, and even the tether will be entangled if no control is applied. The pulling force of the tether will greatly interfere with the platform itself, so , it is necessary to control the attitude of the captured complex
Due to the small control torque of the space robot itself and the limited fuel, it is difficult to achieve the attitude stability of the complex after capture only by using the slide film controller in the thruster of the space robot itself, so it is necessary to use the tether and the thruster Coordinated control of complex posture

Method used

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  • Coordination control method of spatial rope-tying robot compounded body postures after target catching
  • Coordination control method of spatial rope-tying robot compounded body postures after target catching
  • Coordination control method of spatial rope-tying robot compounded body postures after target catching

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Embodiment Construction

[0029] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0030] Embodiments of the present invention can be realized through the following technical solutions:

[0031] The complex control of the space tethered robot after the target capture is characterized by: the introduction of the tether pull force, the design of the coordinated attitude control method of the tether pull force and the thruster, and the coordination control method using the tether pull force and the thruster Methods; then considering the limitations of using tethers for attitude control, a coordinated control method for attitude control using only thrusters is designed, and finally a controller switching control method is designed for coordinated attitude control.

[0032] Such as figure 1 As shown, after the space tether robot captures the target solar panel, the space tether robot rotates with the target. In the figure, 1 is the space platform,...

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Abstract

The invention relates to a coordination control method of spatial rope-tying robot compounded body postures after target catching. According to the coordination control method of spatial rope-tying robot compounded body postures after target catching, rope-tying drawing force is brought in, a coordinated posture control method of the rope-tying drawing force and a thrustor is designed, a coordinated control method of the rope-tying drawing force and the thrustor is firstly designed, then considering limitations when rope tying is utilized to control the postures, a coordinated control method of posture control only by means of the thrustor is designed, and lastly a switchover control method of a controller is designed to carry out coordinated posture control.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and relates to a space tethered robot target capture complex attitude coordination control method, in particular to a space tethered robot attitude control method with low fuel consumption, the control method can be applied Post-capture attitude control of space tethered robots. Background technique [0002] Due to its flexibility, safety, and low fuel consumption, tethered robots have a wide range of roles in space on-orbit services, among which the rescue of failed satellites and the removal of space junk are its main applications. Attitude control of complexes after capture is one of the main research areas of tethered robots. After the space robot captures the target, due to the collision and the spin of the target itself, the attitude of the complex after capture is unstable, and even the tether will be entangled if no control is applied. The pulling force of the tether...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04
Inventor 黄攀峰王东科孟中杰刘正雄
Owner NORTHWESTERN POLYTECHNICAL UNIV
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