Aircraft posture coupling rapid and stable control method based on mechanical arm driving

Abstract

The invention relates to an aircraft posture coupling rapid and stable control method based on mechanical arm driving. According to the aircraft posture coupling rapid and stable control method, a mechanical-arm-driven aircraft posture coupling kinematics model considering joint mass center bias factors is established, and the influences of initial linear momentum and angular momentum are considered and serve as the model basis for the design of a control law; and a reference posture limited time convergence trajectory is determined based on a polynomial method according to initial posture errors of an aircraft, and the determined polynomial coefficients need to satisfy joint angle, joint angular velocity and joint angular acceleration constraints. The aircraft posture coupling rapid and stable control method based on mechanical arm driving does not need to consume a chemical propellant, and can prolong the service life of an on-orbit aircraft; and the aircraft posture coupling rapid and stable control method based on mechanical arm driving can ensure that aircraft posture errors converge within reasonable given time, has good dynamic performance, and can ensure that the mechanicaljoint motion satisfies the angle constraint, angular velocity constraint and angular acceleration constraints.

Description

technical field [0001] The invention relates to a fast and stable control method for aircraft pose coupling based on mechanical arm drive, and relates to the technical field of aircraft dynamics and control. Background technique [0002] High-precision control of spacecraft pose is the key to ultra-close space missions. In order to achieve high control accuracy and consider the influence of spacecraft pose and pose coupling, pose and pose integrated control has been extensively studied in recent years. However, in the existing research results, the control force or moment used to realize the pose-integrated motion is mainly realized by the reaction nozzle. This nozzle-based control mode has the following problems: [0003] 1) It needs to consume a large amount of jet fuel that is necessary for the spacecraft and is difficult to replenish, thereby affecting the service life of the system; [0004] 2) Considering the characteristics of the actuator, there are multiple nonli...

AI Technical Summary

Problems solved by technology

[0003] 1) It needs to consume a large amount of jet fuel that is necessary for the spacecraft and is difficult to replenish, thereby affecting the service life of the system;

[0004] 2) Considering the characteristics of the actuator, there are multiple nonlinear factors such as dead zone, saturation, gap and delay in the actual working process of the nozzle, which will greatly affect the accuracy and performance of the spacecraft's position and attitude control, and it is difficult to achieve the expected design Effect;

[0005] 3) In addition, the plume effect caused by the opening of the nozzle will also affect the movement of the operating target

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