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Attitude stabilization control method of space-tethered grabber based on fractional order differentiation in stages

A stable control method and fractional derivative technology, applied in attitude control, control/regulation system, non-electric variable control, etc., to achieve fast response, avoid collision, and save fuel.

Active Publication Date: 2019-08-13
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to avoid the deficiencies of the prior art, the present invention proposes a stage-by-stage space tether grabber attitude stability control method using fractional order differential to solve the problem of space tether grabber attitude stability in the recovery stage. Lays the foundation for the study of tie catchers

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  • Attitude stabilization control method of space-tethered grabber based on fractional order differentiation in stages
  • Attitude stabilization control method of space-tethered grabber based on fractional order differentiation in stages
  • Attitude stabilization control method of space-tethered grabber based on fractional order differentiation in stages

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Embodiment Construction

[0033] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0034] The technical scheme adopted in the present invention comprises the following steps:

[0035] 1) Establish the dynamic model of the recovery stage of the space tethered catcher;

[0036] 2) Design the PD controller based on the tether recovery rate in the recovery phase;

[0037] 3) In the recovery phase of the design, the PD is based on the recovery rate of the tether and the inner angle of the tether surface μ controller.

[0038] In the described step 1), the kinetic equation of the recovery stage of the space tether catcher is:

[0039]

[0040]

[0041]

[0042]

[0043]

[0044]

[0045]

[0046]

[0047] Wherein, in formulas (6) and (7), k=1, 2, 3, 4. When k=1,q=2,3,4; when k=2,q=1,3,4; when k=3,q=1,2,4; when k=4,q=1,2, 3. Λ, lw are the length of the connecting tether and flexible rope after dimensionless, θ, are the ...

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Abstract

The present invention relates to a fractional order differential-based staged space tethered capture device attitude stabilization control method. According to the method, the attitude stabilization controller of the recovery stage of a space tethered capture device is designed in a staged manner according to the features of a tether recovery stage, the design of the controller is more fuel-efficient and can avoid the collision of a space platform and a tail end capture device at the later period of the recovery stage; the fractional order differential controller is faster in input response and is small in overshoot compared with an integer-order controller; and when fractional order differential calculation is performed, a state at a previous time point is memorized, and therefore, with the controller provided by the invention adopted, a tether can be recovered more stably at the later period of the recovery stage with a recovery speed and a capture device attitude angle ensured.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and relates to a method for controlling the attitude stability of a space tether catcher in stages using fractional order differentiation Background technique [0002] The space tether catcher is a new type of spacecraft with a structure of "space platform + connecting tether + flexible tether + autonomous maneuvering unit". It has the characteristics of flexibility and safety, and can be used for orbital garbage cleaning and invalid satellite capture For space missions, the operating range can reach tens of meters to several kilometers, and it has a wide range of applications in space on-orbit service applications. [0003] According to the task flow of the space tether grabber, its task can be divided into the following five stages: release, approaching the target, entanglement and capture of the target, stabilization after capture, and recovery. The recovery stage is one ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0808
Inventor 黄攀峰赵亚坤孟中杰刘正雄张夷斋张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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