Fuel optimal pose coordination method suitable for space tether robot in target approaching process

Abstract

The invention provides a fuel optimal pose coordination method suitable for a space tether robot in the target approaching process. The method includes the steps that first, a system kinetic model is established; second, the system kinetic model is dispersed; third, an optimal trajectory control signal is planned; fourth, after a real state signal x of a coordination optimal controller passing through the space tether robot system and an ideal condition signal x* calculated in the third step are subtracted, an error signal is acquired, the error signal is multiplied by a time varying gain coordinate coefficient matrix KN to acquire a deviation control signal , the deviation control signal is added to the ideal condition signal x* calculated in the third step to acquire a control signal, and accordingly coordination control can be carried out.

Description

Technical field: [0001] The invention belongs to the research field of spacecraft control technology, and relates to a low-fuel-consumption space tether robot pose coordination control method, which can be applied to the control of the space tether robot approaching process. 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. The realization of these tasks depends on the precise approach of the robot to the target, so the effective control method in the approach process is one of the main research contents of the tethered robot. When the space robot is approaching the target, because the weight of the end robot is very limited, its own fuel is very limited, so it is necessary to use the tether and the thruster to coordinate the position and attitude of the end robot. H...

AI Technical Summary

Problems solved by technology

However, since the tension on the tether has a huge impact on the attitude of the robot, the traditional scheme of separately controlling the position and attitude will easily lead to the instability of the attitude of the terminal robot, and even the tether will be entangled if no control is applied. An integrated control that coordinates the position and attitude of the robot during its approach

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