A free-floating space manipulator control method for stabilization after target acquisition

Abstract

An embodiment of the present invention provides a method for controlling a free-floating space manipulator that is stable after target capture, including: obtaining the dynamic equation of the free-floating space manipulator and the target load; obtaining the equivalent power of the combined system after the target is captured According to the dynamic equation of the free-floating space manipulator and the target load and the equivalent dynamic parameters of the combined system, the dynamic equation of the combined system after the target is captured is obtained; according to the combined system after the target is captured Based on the dynamic equations, a stable controller applicable to space rigid manipulators and space flexible manipulators after target acquisition is obtained. According to the technical solution provided by the embodiments of the present invention, the attitude of the base can be stabilized after the free-floating space manipulator completes target capture, and flexible vibration suppression can be realized, thereby realizing the stable control of the combined system.

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 and more frequent, and space tasks are becoming more and more complex. In order to get rid of the constraints of limited carrying capacity on the construction of large-scale space facilities and minimize the cost of construction and exploration, various space powers are actively studying the use of space manipulators to replace the on-orbit capture technology involved in space station assembly and maintenance and satellite recovery tasks. The on-orbit capture of the space manipulator is usually divided into four stages: tracking, approaching, capturing, and combined stability control. After the space manipul...

AI Technical Summary

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 a wide adjustment range and saves energy. The advantages of energy, but most scholars consider the movement of the manipulator in the plane, and do not fully consider the influence of the base and rigid-flexible coupling, so the existing algorithm is not suitable for the stable control of the free-floating space manipulator after the target is captured

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