Method for stably controlling posture of complex after target is caught by space tethered system mechanical arm

A stable control method and space tethering technology, applied in attitude control, adaptive control, general control system and other directions, can solve problems such as limiting the use of tether tension

Active Publication Date: 2014-11-12
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0004] The Chinese patent with the application number: 201310018221.7 proposes a control method for a space tethered robot after capture of the complex, using thrusters and tethers

Method used

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  • Method for stably controlling posture of complex after target is caught by space tethered system mechanical arm
  • Method for stably controlling posture of complex after target is caught by space tethered system mechanical arm
  • Method for stably controlling posture of complex after target is caught by space tethered system mechanical arm

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Embodiment Construction

[0030] The first step is to establish the dynamic model of the complex after capture by the space tethered manipulator:

[0031] The Lagrange method is used to model the dynamics of the space-tethered manipulator controlled by the substrate as follows:

[0032] H b H bc H bc T H c x · · 0 Θ · ...

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Abstract

The invention discloses a method for stably controlling the posture of a complex after a target is caught by a space tethered system mechanical arm. First, a posture controller for the complex formed after the target is caught by the space tethered system mechanical arm is designed, the expected posture control moment of the complex is worked out, and then the expected posture moment is achieved through a thruster of the space tethered system mechanical arm, the structure of the mechanical arm and the tension of a tether. According to the method, the changes of the form of the space tethered system mechanical arm are considered for use, the posture of a space tethered system robot can be stably controlled through the tension of the space tether and the thruster of the space tethered system robot, the application range of the tension of the tether is broadened substantially due to the changes of the form of the mechanical arm, and thus stable control over the posture of the complex formed after the target is caught by the space tethered system robot can be effectively achieved.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and in particular relates to a control method for stabilizing the attitude of a complex after a target is captured by a space tethered manipulator. Background technique [0002] Due to its flexibility, safety, and low fuel consumption, space tethered robots have a wide range of roles in space on-orbit services, and can perform operations such as rescue of failed satellites, space junk cleaning, and auxiliary orbit changes. The space tethered manipulator is a kind of space tethered robot, which has a large working space and dexterous operation performance. [0003] According to the task flow of the space-tethered manipulator, it can be divided into five stages: release, approaching the target, target capture, target stabilization after target capture, and target capture operation. The attitude control of the complex after capture is the space-tethered mechanical arm One of th...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B13/04
Inventor 黄攀峰王东科周科伟孟中杰刘正雄蔡佳
Owner NORTHWESTERN POLYTECHNICAL UNIV
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