Free-floating space mechanical arm stability control method after target acquisition

Abstract

The embodiment of the invention provides a free-floating space mechanical arm stability control method after target acquisition. The method comprises the steps that a kinetic equation of a free-floating space mechanical arm and a target load is obtained; equivalent kinetic parameters of a combined entity system after target acquisition are obtained; a kinetic equation of the combined entity systemafter target acquisition is obtained according to the kinetic equation of the free-floating space mechanical arm and the target load and the equivalent kinetic parameters of the combined entity system; and a stability controller applicable to space rigid mechanical arms and space flexible mechanical arms after target acquisition is obtained according to the kinetic equation of the combined entitysystem after target acquisition. According to the technical scheme provided by the embodiment of the invention, the posture of a base can be stable after the free-floating space mechanical arm completes target acquisition, flexible vibration suppression can be achieved, and accordingly, stability control over the combined entity system is achieved.

Description

【Technical field】 [0001] The invention relates to automatic control technology, in particular to a control method for a free-floating space manipulator used for stabilization after target capture. 【Background technique】 [0002] With the continuous deepening of space exploration and the gradual improvement of the technical level, human space activities are becoming more frequent and space tasks are becoming more and more complex. In order to get rid of the restriction of limited carrying capacity on the construction of large-scale space facilities and minimize the cost of construction and exploration, various aerospace powers are actively researching the use of space manipulators to replace the on-orbit capture technology that participates in tasks such as space station assembly and maintenance and satellite recovery. The on-orbit capture of the space manipulator is usually divided into four stages: tracking, approaching, capturing, and combination stability control. After ...

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Problems solved by technology

The ability to adjust the attitude of the base using the momentum wheel is limited, and it is easy to reach a saturated state; using the propeller to work requires the consumption of fuel stored in the fuel tank, which increases consumption costs; the stability of the system is achieved by controlling the movement of the mechanical arm joints, which has

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