Method for achieving target capturing stability of space robot under continuous collision conditions

Abstract

The invention relates to a method for achieving target capturing stability of a space robot under continuous collision conditions. A method of changing the closed-loop pole of a system is adopted, thestability margin of the system is improved, and it is guaranteed that the control system can still keep stable under the condition that the control system suffers from short-time repeated impacting.A pseudo-inverse based control moment distribution method is adopted, the advantages that output distribution optimization is achieved, the output quantity is smooth, and the output quantity is achieved under any conditions are achieved, and the dynamic performance of the system is effectively improved. The method can be widely applied to a target capturing and stabilization control method of thespace mechanical arm robot, the method can achieve target capturing stability under the continuous collision conditions and reduce the requirement for the thrust of a thruster, fuel consumption can bereduced, capturing of the space mechanical arm robot on targets can be effectively reduced, and the capturing process is safe and reliable.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and relates to a method for capturing and stabilizing a space robot target under continuous collision conditions, in particular to a deviation dynamics and a method for forming a complex between a space manipulator robot and a target under continuous collision conditions. Stable control method. Background technique [0002] Due to its flexibility, safety, and low fuel consumption, space robots have a wide range of roles in space on-orbit services, and can perform operations such as rescue of failed satellites, space junk cleaning, and auxiliary orbit changes. The space manipulator robot is a kind of space robot, which has a large working space and dexterous operation performance. [0003] According to the task flow of the space robot, it can be divided into five stages: release, approaching the target, target capture, target stabilization after target capture, and target cap...

AI Technical Summary

Problems solved by technology

During the target capture process, the robot and the target have relative linear velocity and relative angular velocity due to the influence of target measurement and tracking error in the initial stage of capture, which will cause the target to collide with the end grabber of the robot, because the grabber Due to the unique mechanical characteristics, it takes a certain amount of time to close, which will lead to continuous collisions between the target and the grabber. The entire capture process becomes unstable due to collisions, and may even cause the target to be captured to pop out of the end grabber or even the space robot. damaged, causing the capture mission to fail

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