Rapid attitude stabilization method suitable for space robot actuator failure

Abstract

The invention discloses a rapid attitude stabilization method suitable for space robot actuator failure. An inverse dynamic model is acquired on the basis of establishing a system dynamic model, and the relationship between the control moment and mechanical arm joint movement under the given base attitude movement condition is acquired by aiming at the characteristics. The balance attitude required by stabilization of the system is determined by considering the problems of failure of an actuating mechanism and the limited amplitude and direction of the output moment so that the control moment is enabled to balance the angular momentum of the system under the attitude. The attitude angle change of the base in the whole stabilization process is acquired by considering the initial movement state and the balance attitude of the base through combination of the constraint and inputted to a control model so as to acquire the corresponding working state of the actuating mechanism and the rotating rule of all the joints of the mechanical arm. Compared with the conventional control method considering the actuator failure, base stabilization control under the condition of providing single shaft moment only is realized by the method for the first time, and the time consumed in the whole stabilization process is greatly reduced.

Description

technical field [0001] The invention relates to space on-orbit service technology in the field of aerospace, in particular to a rapid attitude stabilization method applicable to space robot actuator failures. Background technique [0002] Spacecraft serve a variety of objects in orbit, among which power-failed satellites or space debris occupy a large proportion. For this kind of target, due to the existence of its own residual angular momentum, it is often in a rotating state. After the space robot is captured, the entire system including the robot and the target will also be in a rotating state. At this time, if the attitude of the base cannot be quickly stabilized, the system performance will be reduced and the robot may even disintegrate. [0003] In order to meet the needs of communication and other tasks, the attitude of space robots has directional requirements. During the mission of the space robot, there is a situation where the attitude control system fails. At t...

AI Technical Summary

Problems solved by technology

This control method has constraints on the moment of inertia of the system, and the adjustment time of the whole process is long, requiring the jet engine to consume a large amount of fuel, which will shorten the system operation period and increase the mission cost

At the same time, the existing research results can only solve the situation where the attitude control system provides two-axis torque. For the situation where only one-axis torque is provided, it is still impossible to achieve the stability of the base.

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