Dynamics control method and system of space non-cooperative target navigation acquisition

Abstract

The invention discloses a dynamics control method and system of space non-cooperative target navigation acquisition. For the problem of navigation acquisition of a space robot for on-orbit grabbing ofa rotating or turning non-cooperative target, the dynamics control method of space non-cooperative target navigation acquisition is put forward in the description. The method includes the steps of firstly, establishing kinetic energy analytic type description of a space robot system; secondly, establishing a kinematics equation of the space robot; thirdly, establishing an analytic type space robot system kinematics and dynamics model through a second-kind lagrange equation and a pseudo-coordinative equation. The method is obtained by deducing a vector mechanics theoretical method, the matrixand vector calculation is adopted, the equation is an analytic type expression, and the physical meanings are clear. By means of the method, the coupling analysis can be conveniently conducted for thekinematics and dynamics of the space robot system, a dynamics control algorithm based on the model can be conveniently obtained, the calculation amount is small, and the real-time calculation of thecontrol algorithm is convenient.

Description

technical field [0001] The invention relates to a dynamic control method and system for navigation and capture of space non-cooperative targets, belonging to the technical field of dynamic control. Background technique [0002] In-orbit service of space robots will play an increasingly important role in future space activities, such as satellite maintenance, large-scale space structure construction, space debris removal and other tasks, in order to reduce the risk of astronauts leaving the cabin and improve work efficiency. On-orbit service is especially suitable for non-cooperative satellites. Since faulty satellites generally do not have special capture devices and are often in a spinning or rolling state, it poses severe challenges to capture operations. [0003] The main difference between a space robot and a ground robot arm is that the base of the space robot is not fixed on the ground, but works in a microgravity environment. The dynamics and kinematics of the manipu...

AI Technical Summary

Problems solved by technology

However, the working space of the free-floating system is limited due to the constant position of the center of mass of the system

Especially when capturing moving targets, the singularity of the workspace dynamics can cause system stability problems

At present, these methods have the following limitations in application: 1) Most of them assume that the base is in a free-floating state, that is, the base is not subject to any control; 2) Most of the dynamic models are iterative and recursive, which does not satisfy the derivation and realization of control algorithms; 3) The model has a large amount of calculation and does not meet the real-time requirements of the control algorithm

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