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A space vehicle attitude stabilization control method using offset tether

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

Active Publication Date: 2018-01-23
NORTHWESTERN POLYTECHNICAL UNIV
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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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  • A space vehicle attitude stabilization control method using offset tether
  • A space vehicle attitude stabilization control method using offset tether
  • A space vehicle attitude stabilization control method using offset tether

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Embodiment Construction

[0064] The present invention is described in further detail below in conjunction with accompanying drawing:

[0065] Such as figure 1 Shown, the present invention comprises the following steps:

[0066] The first step is to establish a system dynamics model:

[0067] 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 space vehicle attitude stabilization control method using offset tethers. By establishing a system dynamics model, the non-affine nonlinear system model is converted into an affine nonlinear system model, and then the velocity information is used as a virtual Control quantity, design controller; then design virtual control quantity as control instruction, design speed / angular velocity controller; finally, add anti-saturation module in controller, suppress the impact brought by the limited movement of tether connection point; the present invention The movement of the offset tether point is used to control the attitude of the capture mechanism, which greatly saves the fuel consumption of the capture mechanism during the operation task. In addition, the present invention converts the non-affine nonlinear system into an affine nonlinear system by means of first-order Taylor expansion and proves that its similarity and error satisfy the Lipschitz condition, and when designing the control system, an adaptive compensation item compensation model is designed error, simple and practical.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08B64G1/24
Inventor 孟中杰黄攀峰刘正雄
Owner NORTHWESTERN POLYTECHNICAL UNIV
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