Method of taking over and controlling attitude after space tethered robot captures flexible target satellite

A space tether and control method technology, applied in attitude control, aircraft, motor vehicles, etc., can solve problems such as the limited time control of complexes after capture is not considered

Active Publication Date: 2017-03-15
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

All of the above methods are aimed at stable control of single flexible spacecraft atti...

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  • Method of taking over and controlling attitude after space tethered robot captures flexible target satellite
  • Method of taking over and controlling attitude after space tethered robot captures flexible target satellite
  • Method of taking over and controlling attitude after space tethered robot captures flexible target satellite

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Embodiment Construction

[0035] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0036] Embodiments of the present invention are realized through the following technical solutions:

[0037] Step 1, establishing the attitude dynamics equation of the complex after the space tethered robot captures the target satellite;

[0038] Step 2, design the inner and outer loop terminal sliding mode controller and the corresponding adaptive law;

[0039] Step 3, take the inner loop control law and the outer loop control law as the input of the control system to carry out the attitude takeover control after the flexible target satellite is captured, and carry out the Lyapunov stability proof;

[0040] Step 4, design a flexible spacecraft vibration suppression controller with a piezoelectric ceramic driver and perform Lyapunov stability proof.

[0041] 1. As described in step 1, attach figure 1 It is a schematic diagram of the target capture by the space...

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Abstract

The invention relates to a method of taking over and controlling attitude after a space tethered robot captures a flexible target satellite. Taking regard of nondeterminacy of inertia, the coupling effect, external interference and other factors, the method of taking over and controlling attitude after space tethered robot captures flexible target satellite establishes a complex attitude and orbit coupling kinetic equation, designs inner and outer ring terminal sliding mode controllers, and gives consideration on the saturation characteristics of a thruster and a tether so as to stably control the attitude and angular velocity of the complex. The method of taking over and controlling attitude after a space tethered robot captures a flexible target satellite includes the following steps: establishing an attitude kinetic equation of a complex after a space tethered robot captures a target satellite; designing inner and outer ring terminal sliding mode controllers and the corresponding adaptive law; taking the inner ring control law and the outer ring control law as the input of a control system to take over and control the attitude after the flexible target satellite is captured; and proving Lyapunov stability. The method of taking over and controlling attitude after a space tethered robot captures a flexible target satellite can solve the problem that the flexible complex parameters are not determined and the self-supplied thruster of the space tethered robot is saturated.

Description

technical field [0001] The invention belongs to the field of attitude stability takeover control after capturing a space non-cooperative target, and relates to a attitude takeover control method after a space tether robot captures a flexible target satellite, and the control method can be used to solve the uncertain parameters of a flexible complex And space tethered robot comes with thruster saturation problem. Background technique [0002] The takeover control of the target spacecraft mainly means that after the service spacecraft is fixedly connected with the target spacecraft through space manipulators, docking mechanisms or other equipment to form a combination, it takes over its attitude and orbit control functions, and through its own actuators (such as thrusters, reaction wheel, magnetic moment, etc.) to achieve precise control of the attitude and orbit of the target spacecraft. Since the non-cooperative target spacecraft has no auxiliary equipment for rendezvous an...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 黄攀峰鲁迎波孟中杰刘正雄张夷斋张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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