A dynamic control method and system for space non-cooperative target navigation capture

Abstract

A dynamic control method and system for navigating and capturing non-cooperative space targets, aiming at the navigation and capture problem of space robots grabbing spin or rolling non-cooperative targets in orbit, this paper presents a dynamics of non-cooperative space target navigation capture Control Method. First, an analytical description of the kinetic energy of the space robot system is established. Secondly, the kinematic equation of the space robot is established. Finally, an analytical kinematics and dynamics model of the space robot system is established by using the Lagrangian equations of the second kind and pseudo-coordinate equations. This method is derived based on the theoretical method of vector mechanics, using matrix and vector operations, and the equations are analytical expressions with clear physical meaning. This method is convenient for the coupled analysis of the kinematics and dynamics of the space robot system, and is convenient for the realization of the model-based dynamic control algorithm, and the calculation amount is small, which is convenient for the real-time calculation of the control algorithm.

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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