Large-sized combination transposition control method

Abstract

The invention discloses a large-sized combination transposition control method, which is characterized in that a base and operating target integrated transposition kinetic equation, wherein an angular momentum equation, the gravity gradient torque and the aerodynamic torque of an executing mechanism are considered simultaneously in the equation; discretization is carried out on a transposition time interval, a partial derivative of the angular momentum relative attitude of the executing mechanism on each discrete time point is solved through using mathematical simulation by taking an initial attitude as a benchmark, thus the attitude increment is calculated, the angular momentum of the executing mechanism is enabled to be decreased under the new attitude process, the attitude increment is calculated repeatedly until the angular momentum of the executing mechanism is unsaturated; and then the combination attitude is enabled to track the expected attitude process by using an attitude tracking controller, so that the angular momentum is ensured to be unsaturated when transposition is carried out, and transposition control is accomplished.

Description

technical field [0001] The invention belongs to the field of spacecraft control, in particular to a method for controlling the displacement of a large assembly. Background technique [0002] The large-scale assembly in this patent refers to a large-scale spacecraft with a mass of more than 100 tons, such as a solar power station. This large-scale assembly spacecraft cannot be launched into orbit by one launch, and needs to be launched multiple times, and is formed by on-orbit rendezvous and docking. combination. The rendezvous and docking task needs to arrange the rendezvous and docking sensor on the docking interface of the part that first enters the orbit, and the rendezvous and docking can only be realized at the docking interface where the rendezvous and docking sensor is arranged in the later launching part. After the docking is completed, the docking control mechanism will be used. The rendezvous and docking part is translocated to the long-term mooring port without t...

AI Technical Summary

Problems solved by technology

[0004] At present, there are space robots with a similar background to the tasks of this patent. Space robots are performing space manipulation tasks, and their bases generally adopt stop control or three-axis stabilization modes. Neither of these two methods can be applied to large assemblies.

If the stop control scheme is adopted, the attitude will drift in a large range during the stop control process. It takes several orbit cycles for a large assembly to recover its attitude, and the environmental torque is large, so there is a risk that the attitude cannot be restored; if three-axis attitude control is used , the angular momentum actuator will be saturated due to the large environment disturbance

However, if the jet control is used, although the jet control has no risk of saturation, the impact load of the jet control may excite the vibration of large flexible accessories, and may also damage the joints of the indexing control mechanism

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