A Lagrangian Dynamic Model and Controller for a Space Tether System

Abstract

The present invention relates to a Lagrange dynamic model of a space tether system and a controller. Aiming at the modeling problem of the space tether system, six parameters consisting of three attitude angles, a tether surface internal angle, a tether surface external angle, the tether length and the like are considered, the Lagrangian method is employed to detailedly deduce the generalized force model of the tether, and a generalized state stability controller is designed. The Lagrange dynamic model of space tether system and the controller can solve the tether system target attitude modeling problem when a platform is equivalent to the target quality; and the designed controller can realize the control of the tether system generalization state variables after target capture.

Description

technical field

[0001] The invention belongs to the field of tether system control, and relates to a Lagrangian dynamic model and a controller of a space tether system. Background technique

[0002] The space tether system is a new type of space torsion system formed by connecting the space platform with the space shuttle, spacecraft, space station or other satellites, and grabbers (flying claws, flying spears, flying tongues, flying nets, etc.) through flexible tethers. Flexible assembly, the length of this flexible assembly can reach hundreds of meters or even hundreds of kilometers. The tether system has a wide range of uses and application prospects, and can be widely used in space experiments, space transportation, space junk cleanup, rescue of failed satellites, and regeneration of geostationary orbit stations. The space tether system consists of three parts: space platform, space tether and target. The precise modeling of the tether system can reflect the essential ...

Examples

Embodiment Construction

[0093] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0094] To achieve the above object, the present invention is achieved through the following technical solutions:

[0095] Step 1, establish the coordinate system definition and give the position and angular velocity expressions of the tether system;

[0096] Step 2, establishing the kinetic energy and potential energy of the tether system;

[0097] Step 3, establishing a generalized force model of the tether system;

[0098] Step 4, design the controller according to the established Lagrangian dynamics model.

[0099] 1. attached figure 1 It is the definition of the coordinate system of the rope system and the system configuration diagram, where OXYZ is the inertial coordinate system; o 0 x 0 the y 0 z 0 is the orbital coordinate system of the space tether system, and the coordinate origin o 0 Located at the center of mass of the tether system, o 0 the y...

technical field

[0001] The invention belongs to the field of tether system control, and relates to a Lagrangian dynamic model and a controller of a space tether system. Background technique

[0002] The space tether system is a new type of space torsion system formed by connecting the space platform with the space shuttle, spacecraft, space station or other satellites, and grabbers (flying claws, flying spears, flying tongues, flying nets, etc.) through flexible tethers. Flexible assembly, the length of this flexible assembly can reach hundreds of meters or even hundreds of kilometers. The tether system has a wide range of uses and application prospects, and can be widely used in space experiments, space transportation, space junk cleanup, rescue of failed satellites, and regeneration of geostationary orbit stations. The space tether system consists of three parts: space platform, space tether and target. The precise modeling of the tether system can reflect the essential ...

Examples

Embodiment Construction

[0093] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0094] To achieve the above object, the present invention is achieved through the following technical solutions:

[0095] Step 1, establish the coordinate system definition and give the position and angular velocity expressions of the tether system;

[0096] Step 2, establishing the kinetic energy and potential energy of the tether system;

[0097] Step 3, establishing a generalized force model of the tether system;

[0098] Step 4, design the controller according to the established Lagrangian dynamics model.

[0099] 1. attached figure 1 It is the definition of the coordinate system of the rope system and the system configuration diagram, where OXYZ is the inertial coordinate system; o 0 x 0 the y 0 z 0 is the orbital coordinate system of the space tether system, and the coordinate origin o 0 Located at the center of mass of the tether system, o 0 the y...

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