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Spacecraft attitude stability control method by using biasing tether

A stable control method and space vehicle technology, applied in the direction of attitude control, aerospace vehicle guidance device, etc., can solve the problem of attitude/orbit coupling control that has not been studied in depth

Active Publication Date: 2015-12-16
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Wang Dongke and others proposed a method to change the tether connection point by using the multi-tether structure, but did not study the attitude / orbit coupling control problem in depth

Method used

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  • Spacecraft attitude stability control method by using biasing tether
  • Spacecraft attitude stability control method by using biasing tether
  • Spacecraft attitude stability control method by using biasing tether

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Embodiment Construction

[0066] The present invention is described in further detail below in conjunction with accompanying drawing:

[0067] Such as figure 1 Shown, the present invention comprises the following steps:

[0068] The first step is to establish a system dynamics model:

[0069] EXYZ is the geocentric inertial system, OX P Y P Z P For platform track system, OX P Y P The plane is the orbital plane, O T x T Y T Z T is the tether coordinate system, O b x b Y b Z b is the body coordinate system of the operating mechanism. Ignore the out-of-plane motion of the system, that is, assume the EZ axis, OZ P Axis, O T Z T Axis, O b Z b Axes parallel to each other, EXY, OX P Y P , O T x T Y T , O b x b Y b Coplanar. The above four coordinate systems can be obtained by one rotation. Let the coordinate system O T x T Y T Z T with coordinate system OX P Y P Z P The included angle is α, the coordinate system O b x b Y b Z b with coordinate system OX P Y P Z P The...

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Abstract

The invention discloses a spacecraft attitude stability control method by using a biasing tether. The method comprises: a system dynamics model is established; a nonaffine non-linear system model is converted into an affine non-linear system model; speed information is used as a virtual control value and a controller is designed; the designed virtual control value is used a control instruction and a speed / angular speed controlled is designed; and an anti-saturation module is added into the controller and an influence caused by movement limitation of a tether connecting point can be suppressed. According to the invention, on the basis of movement of a biasing tether point, an attitude of a capture mechanism is controlled, thereby substantially reducing fuel consumption of the capture mechanism during the operation task process. In addition, the nonaffine non-linear system model is converted into the affine non-linear system model by means of first-order taylor expansion and that the similarity and error meet the Lipschitz condition is demonstrated; and when the system design is controlled, an adaptive compensation item compensation module error is designed. The method is simple and the practicability is high.

Description

【Technical field】 [0001] The invention relates to an attitude stabilization control method for a space vehicle using an offset tether, and belongs to the field of space vehicle on-orbit service. 【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 be widely used in space junk cleaning, rescue of failed satellites, and regeneration of geostationary orbit stations. The space tether robot consists of three parts: space platform, space tether, and capture mechanism. Because the position of the capture mechanism is closely related to the success or failure of the mission, the current research on the flight control of space tethered robots mostly focuses on the flight control of the capture mechanism. The existence of the space tether makes the flight control of the capture mechanism very difficult. [0003] In traditional space vehicle flight control, the te...

Claims

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Application Information

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IPC IPC(8): G05D1/08B64G1/24
Inventor 孟中杰黄攀峰刘正雄
Owner NORTHWESTERN POLYTECHNICAL UNIV
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