Three-axis active posture control method for space tether-robot

A technology of tethered robots and space tethers, which can be applied in attitude control and other directions, and can solve difficult problems such as realization

Active Publication Date: 2014-09-17
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
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Problems solved by technology

However, in these two patents, the realization of the coordinated attitude control method needs to maintain constant or control the tension on the tether, which is difficult to achieve

Method used

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  • Three-axis active posture control method for space tether-robot
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  • Three-axis active posture control method for space tether-robot

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Embodiment Construction

[0025] The implementation of the present invention will be described below with reference to the accompanying drawings. In this embodiment, the space tethered robot is located on the line connecting the space platform and the center of the earth.

[0026] In the analysis process, firstly, the orbital dynamics characteristics of the space tethered robot give the space tethered robot the nominal tension T 0 ;

[0027] In the orbital coordinate system oxyz of the space tethered robot, the motion of the space tethered robot can be expressed by the Hill equation (Formula (1)-(3)):

[0028] x · · - 2 Ω z · = F x / m r - - - ( 1 )

[0029] y · ...

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Abstract

The invention provides a three-axis active posture control method for a space tether-robot. The method includes the steps that according to the orbit dynamics characteristic of the space tether-robot, the nominal tension required by a space tether of the space tether-robot in the equilibrium state is calculated; according to posture kinematics and dynamical equations of the space tether-robot, a control moment variable is determined, a state equation and an output equation of posture kinematics of the space tether-robot are established, and posture control moments in three directions are calculated according to a feedback linearization control law; according to the relation among the control moments, the space tether connecting point positions and the rotating speed of a reaction wheel, the corresponding space tether connecting point positions and the rotating angular speed of the reaction wheel are obtained. By the adoption of the method, according to the posture of a target and with the use of the space tether and the reaction wheel, three-axis posture coordinated control is conducted on the posture of the space tether-robot, and the method is suitable for three-axis posture control of the space tether-robot when the space tether-robot is located on a connecting line of a space platform and the geocenter.

Description

technical field [0001] The invention relates to the technical field of aerospace vehicle control, in particular to a three-axis active attitude control method for a space tethered robot. Background technique [0002] The space tethered robot is a new type of space robot, which is mainly used to capture space targets and perform tasks such as on-orbit maintenance and on-orbit assembly. The general structure of the space tethered robot is "space platform - space tether - space tethered robot", the space platform releases the space tethered robot through the space tether, and the space tethered robot approaches and captures the space target; The self-contained manipulator arm and terminal operator are used to perform target capture and on-orbit service tasks. Before the space tether robot captures the target, the space tether robot must adjust its three-axis posture according to the change of the target state in order to accurately determine the capture position for capture. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 黄攀峰王东科袁建平孟中杰徐秀栋
Owner NORTHWESTERN POLYTECHNICAL UNIV
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