A Dynamic Model-Based Method for Identification of Spatial Target Parameters under Dual-Arm Capture

Abstract

The invention relates to a method for identifying parameters of space targets under dual-arm capture based on a dynamics model, which is formed by an active space debris removal aircraft equipped with a dual-manipulator system and a space non-cooperative target captured by a dual-manipulator arm Taking the combined multi-rigid body system as the object, firstly establish the dynamic model of the combined spacecraft system and the attitude and kinematics equation of the central platform after capturing the space non-cooperative target. The dynamic model of the combined spacecraft system includes the center platform Motion equation, rotation equation, mechanical arm rotation equation and the rotation equation of the object to be identified; then through sensor measurement, the acceleration, attitude, angular velocity, angular acceleration of the central platform, and the rotation angle and rotation angular velocity of each link of the mechanical arm are obtained. ; Then according to the rotation equation of the central platform in the system dynamics model, deduce and organize the form, and derive the identification equation; finally, based on the least square algorithm, identify and estimate the quality characteristic parameters of the object to be identified.

Description

A parameter identification method of space target under double-arm capture based on dynamic model 【Technical field】 The present invention relates to a kind of space target parameter identification method based on the double-arm capture based on dynamic model, particularly relate to A free-floating space debris active removal aircraft system in an operating orbit, the system includes a central platform, and two After the manipulator system captures the space non-cooperative target, the designed use of the platform rotation equation to carry out the space non-cooperative The invention discloses a method for identifying quality characteristic parameters of a cooperative target, which belongs to the field of spacecraft dynamics and attitude control. 【Background technique】 [0002] Space non-cooperative targets refer to those that cannot interact and exchange information with space-orbiting service spacecraft. For space objects, the mass characteristic parameters of non-coo...

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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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