Unlock instant, AI-driven research and patent intelligence for your innovation.

A Coordinated Control Method for Space Tethered Robot Tracking Optimal Trajectory

A technology of coordinated control and space tethering, which is applied in two-dimensional position/channel control and other directions, and can solve the problems of difficulty in tension tracking control, difficulty in realization, and poor implementability

Active Publication Date: 2017-01-11
NORTHWESTERN POLYTECHNICAL UNIV
View PDF2 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The above methods all use the tension control of the space tether when approaching the target using the coordinated control of the space tether, but it is difficult to directly use the tension control of the space tether (tension tracking control is difficult to achieve), so there is this poor implementability. Shortcomings

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Coordinated Control Method for Space Tethered Robot Tracking Optimal Trajectory
  • A Coordinated Control Method for Space Tethered Robot Tracking Optimal Trajectory
  • A Coordinated Control Method for Space Tethered Robot Tracking Optimal Trajectory

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0076] The method of the present invention is characterized by fully considering the characteristics of the tether release mechanism and the space tether on the space platform, and uses a two-directional thruster combined with the space tether release mechanism to control the deceleration of the operating robot to realize the coordinated control of the operating robot to track the optimal trajectory; The premise of this coordinated control method is to ensure that the operating robot has an initial release speed; the release rope length control of the space tether direction during the process of the operating robot tracking the optimal trajectory is achieved by controlling the space tether release mechanism on the space platform to decelerate the operating robot In the process of tracking the optimal trajectory of the operating robot, the control of the in-plane and out-of-plane deflection angles is achieved by using two-directional thrusters on the operating robot; the advantage...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a coordination control method for tracking the optimal track by a space tied-rope robot. The operation robot is controlled to decelerate by combining two direction thrusters and a space tied-rope releasing mechanism so that coordination control over the optimal track tracked by the operation robot can be achieved; in the optimal track tracking process by the operation robot, the rope releasing length in the space tied-rope direction is controlled due to the fact that the space tied-rope releasing mechanism on a space platform controls the operation robot to decelerate, and control over in-plane and out-of-plane outward-deflection angles is achieved through the two direction thrusters on the operation robot.

Description

Technical field [0001] The invention belongs to the research field of spacecraft control technology. In particular, it relates to the field of coordinated tracking and control technology for various spacecraft with space tethers when approaching targets, and particularly relates to a new type of space tethered robot system with a new "space mobile platform, space tether, and operating robot" configuration. A space tethered robot tracking optimal trajectory coordinated control method considering the release characteristics of the space tether, which belongs to the field of space tethered robot on-orbit service. Background technique [0002] Space tethered robot is a new type of space robot, mainly used to capture space targets and perform on-orbit maintenance and on-orbit assembly tasks. The general structure of the space tethered robot is "space platform, space tether, and operating robot". The operating robot is released by the space mobile platform through the space tether and...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 黄攀峰徐秀栋孟中杰
Owner NORTHWESTERN POLYTECHNICAL UNIV