Adaptive control method for space tethered robot to recover target after close-range capture

Abstract

The invention relates to an adaptive control method for target recycling of a space tethered robot after close-range capture. The adaptive control method comprises the steps of firstly deriving a compound body formed by the tethered robot and a captured target satellite, building a dynamic equation of the system in the recycling process, then designing the control force / moment in the recycling process according to a Lyapunov theorem, and designing a dynamic parameter identification law for the compound body, thereby achieving stable recycling of the compound body. According to the adaptive control method, the dynamic parameter identification law is put forwards for the first time, the whole recycling process can be enabled to be more accurate in calculation for control variables, and thus the recycling is more stable. The adaptive control method enables the compound body formed by the space tethered robot after capturing a non-cooperative target to be recycled stably and quickly through tether tension. The adaptive control method can overcome the natural instability in a problem of tether recycling on the basis of dynamic parameters of the compound body, and the compound body is recycled stably.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and relates to an adaptive control method for a space tether robot to recover a target after close-distance capture. Background technique [0002] Due to the advantages of space tethered robots in catching non-cooperative target tasks such as flexibility, safety, and low cost, space tethered robots have potential applications in space junk cleaning and rescue of failed satellites. Especially in recent years, the amount of space junk has increased rapidly, and the problem of cleaning up invalid satellites (non-cooperative satellites) has been put on the agenda by many countries. Because of the maneuverable flight capability of the tethered robot, when it captures the target satellite, the main satellite is always in a safe area. And the tethered robot can work repeatedly. Space tethered robots are considered a reliable method of cleaning up dead satellites. [0003] Accordi...

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Problems solved by technology

[0004] Due to the inherent instability of the negative damping of the tether recovery itself, and the complex posture after close-range capture has a great influence on the movement of the tether, the short-distance recovery of the complex composed of the space tethered robot and the captured target is difficult. At the same time, it includes two problems of dynamic parameter identification and recovery control of the complex, and the controller design is more complicated.

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