Target approaching process robustness planning control method facing tethered space robot

Abstract

The invention discloses a target approaching process robustness planning control method facing a tethered space robot. A movable tethering point control method of a tethered space robot is designed and an expected tethering point spatial position is calculated and a tethering control mechanism is used for retracting or releasing a tether and thus the tethering point to reach an expected position, so that the interference on the attitude by the tether can be eliminated and the attitude stability is guaranteed under the circumstances that the tether participates in tethered robot track control and thus energy consumption caused by extra attitude control can be avoided. Besides, with consideration of the sensor of the tethered robot track control stage as well as uncertain factors of the tethering mechanism and the thruster, a target approaching robustness planning model for a tethered robot is established, so that sensitivity to the uncertain factors by the planned approaching scheme is substantially reduced and reliability of the approaching scheme is also substantially improved.

Description

【Technical field】 [0001] The invention belongs to the research field of spacecraft control technology, and relates to a control method for approaching a target captured by a space tethered manipulator. The control method can be widely used in the target capture control of the space tethered manipulator. 【Background technique】 [0002] Space tethered robots can play unique advantages in capturing out-of-control satellites, cleaning up space junk, assisting orbit change, on-orbit maintenance, and on-orbit assembly. As the key technology, the control of the approaching process of the target is the key to the successful capture of the target. [0003] Space-tethered robots need to consider the trajectory control and attitude stability during the approaching process for the target approach control. For space-tethered robots, the tether can provide control force and control torque for the control task, so the participation of the tether can be limited to a certain extent. It can ...

AI Technical Summary

Problems solved by technology

When the tether and the thruster are used to coordinate the control of the space robot orbit, there are mainly the following problems: first, the tension of the tether is easy to bring torque to the space robot, which in turn interferes with the stability of the attitude

Thruster failure is a hardware failure, which will have a great impact on the mission, but the occurrence of hardware failure during the mission is an accidental event without inevitability, so it is not considered in this paper

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