Method for identifying parameters of space target under double-arm capture based on kinetic model

Abstract

The invention relates to a method for identifying parameters of a space target under double-arm capture based on a kinetic model. The method comprises the steps of taking a combined multi-rigid-body system as an object, wherein the combined multi-rigid-body system is formed by a space debris active removal aircraft provided with a double-mechanical-arm system and a space non-cooperative target captured by double mechanical arms; firstly, establishing a dynamical model of a combined spacecraft system and a central platform attitude kinematical equation after capturing a space non-cooperative target, wherein the dynamical model of the combined spacecraft system comprises a translation equation, a rotation equation and a mechanical arm rotation equation of a central platform and a rotation equation of a to-be-identified body; obtaining the acceleration, the posture, the angular velocity and the angular acceleration of the central platform and the rotating angle, the rotating angular velocity and other information of each section of connecting rod of each mechanical arm through sensor measurement; according to a central platform rotation equation in the system dynamics model, deriving and sorting forms, and exporting an identification equation; and finally, on the basis of a least square algorithm, identifying and estimating quality characteristic parameters of the to-be-identified body.

Description

【Technical field】 [0001] The invention relates to a method for identifying parameters of space targets under dual-arm capture based on a dynamic model, and in particular to an active space debris removal aircraft system floating freely on a running track. The system includes a central platform and two manipulator systems , after the manipulator system captures the space non-cooperative target, the design uses the platform rotation equation to identify the quality characteristic parameters of the space non-cooperative target, which belongs to the field of spacecraft dynamics and attitude control. 【Background technique】 [0002] Space non-cooperative targets refer to space objects that cannot interact and exchange information with space on-orbit service spacecraft, and the quality characteristic parameters of non-cooperative targets are often unknown. Non-cooperative targets include malfunctioning or disabled satellites, space debris, and hostile spacecraft. After the robot a...

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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of using the Newton-Euler joint dynamics method to identify the quality characteristic parameters of the space non-cooperative target, and the end effector captures information such as the force, moment, and acceleration of the space non-cooperative target joint in the aerospace industry. In order to solve the problem that is difficult to measure in the mission, a method for identifying the mass characteristic parameters of space non-cooperative targets under dual-arm capture based on the system dynamics model is proposed. Specifically, it is an active space debris removal vehicle equipped with a dual-arm system. After the arm captures the non-cooperative target in space, based on the identification model derived from the rotation equation of the central platform in the system dynamics model, the mass characteristic parameter identification scheme for the non-cooperative target in space is realized, and the mass, static moment and rotation of the non-cooperative target in space are realized. Accurate Identification of Inertia

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