Dragged target attitude stability control method based on thrust control of tethered space tug

A stable control method and target attitude technology, applied in adaptive control, general control system, control/adjustment system, etc., can solve the problems of inapplicability to actual conditions, slack and winding of tethers, and insufficient control efficiency.

Active Publication Date: 2017-08-22
BEIHANG UNIV
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Problems solved by technology

Because the swing of the dragged object can easily cause the slack and entanglement of the tether
At present, the relevant technologies are mostly discontinuous, which can easily cause the tether to shake, resulting in loosen

Method used

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  • Dragged target attitude stability control method based on thrust control of tethered space tug
  • Dragged target attitude stability control method based on thrust control of tethered space tug
  • Dragged target attitude stability control method based on thrust control of tethered space tug

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Embodiment Construction

[0083] Attached below Figure 1~4 The content of the invention is further described in detail as follows:

[0084] First make necessary assumptions about the system, then use optimal control to calculate the reference trajectory required for control based on the reference model, design a robust global terminal sliding mode controller based on the obtained reference trajectory, and then design the anti-saturation module and constraints required according to the actual situation Thrust prediction and correction module. Finally, the designed controller is combined with the module to obtain a tug target attitude stabilization controller based on tether space tugboat thrust adjustment.

[0085] A method for controlling attitude stability of a towed target based on tethered space tugboat thrust adjustment according to the present invention, see Figure 4 As shown, the specific steps are as follows:

[0086] Step 1. System assumptions

[0087] The so-called tethered space tugboat ...

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Abstract

The invention provides a dragged target attitude stability control method based on thrust control of a tethered space tug. The method includes following steps: 1, performing a system hypothesis, wherein the tethered space tug is an integral body including a tug, a target, and an elastic-connection tie rope, and the tug and the target are located at two ends of the tied rope; 2, calculating a reference trajectory based on optimization; 3, deducing a robust global terminal sliding mode controller; and 4, adding an anti-saturation module and a thrust prediction and correction module. By the above steps, the robust global terminal sliding mode controller obtained in step 3 and the anti-saturation module and the thrust prediction and correction module obtained in step 4 are combined so that the designed dragged target attitude stability controller based on thrust control of the tethered space tug and the control method thereof are obtained, the controller designed by the method can satisfy the constraint demand, and the loosening of the tied rope is also prevented by the designed thrust prediction and correction module.

Description

[0001] 【Technical field】 [0002] The invention provides a method for controlling attitude stability of a towed target based on the thrust adjustment of a tethered space tugboat, which relates to a method for controlling the attitude stability of a tethered space tugboat considering thrust saturation, prevention of tether slack and system constraints, The invention belongs to the technical field of tethered satellites in aerospace engineering. [0003] 【Background technique】 [0004] Tethered space tug (TST) systems have attracted widespread interest from industry and academia with the proposal to transfer orbital objects, including space debris and derelict satellites, through the use of tethered space vehicles. The technology is promising because of its application security, low cost, and particular suitability for non-cooperative targets. [0005] Without a suitable control strategy for the TST system, it is easy to cause system risks, such as loose tethers, collisions betw...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张宇靖钟睿孙鑫贾英宏金磊
Owner BEIHANG UNIV
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