北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (2): 252-258.doi: 10.13700/j.bh.1001-5965.2019.0204

• 论文 • 上一篇    下一篇

空间多体系统轨道姿态及机械臂一体化控制

魏春岭1,2, 袁泉1,2, 张军1,2, 王梦菲1,2   

  1. 1. 北京控制工程研究所, 北京 100190;
    2. 空间智能控制技术国家级重点实验室, 北京 100190
  • 收稿日期:2019-05-05 发布日期:2020-03-11
  • 通讯作者: 魏春岭 E-mail:clwei502@163.com
  • 作者简介:魏春岭,男,博士,研究员。主要研究方向:航天器导航、制导与控制;袁泉,男,博士研究生。主要研究方向:复杂航天器动力学与控制;张军,男,博士,研究员。主要研究方向:大型航天器及机器人动力学与控制;王梦菲,女,硕士研究生。主要研究方向:大型航天器动力学与控制。
  • 基金资助:
    国家自然科学基金(61873029)

Integrated orbit, attitude and manipulator control of space multi-body system

WEI Chunling1,2, YUAN Quan1,2, ZHANG Jun1,2, WANG Mengfei1,2   

  1. 1. Beijing Institute of Control Engineering, Beijing 100190, China;
    2. National Laboratory of Space Intelligent Control, Beijing 100190, China
  • Received:2019-05-05 Published:2020-03-11
  • Supported by:
    National Natural Science Foundation of China (61873029)

摘要: 针对在轨服务等新型任务对航天器快速机动能力的大幅提高,研究了卫星基座和机械臂构成的空间多体系统的轨道、姿态和机械臂的一体化控制设计问题。首先,建立了空间多体系统的动力学模型;然后,基于退步控制思想,设计了卫星基座、姿态与机械臂一体化控制器,并证明了系统的稳定性,由于利用了空间多体系统的所有自由度,相比传统的基座停控或只控制基座姿态而轨道停轨的方法,极大地提高了系统的适应能力,可同时实现空间大范围的轨道转移、姿态机动,同时利用机械臂对目标进行精确操作控制。通过建立完整的空间多体系统仿真模型,对控制器进行仿真,达到了同时进行轨道、姿态及机械臂末端机动的控制目的,并验证了所提方法的有效性。

关键词: 空间多体系统, 机械臂, 轨道控制, 姿态控制, 姿态轨道一体化控制

Abstract: The rapid maneuver ability is widely required for spacecraft aiming the on-orbit servicing tasks. The integrated orbit, attitude and manipulator control was designed for the space multi-body system, which is composed of the satellite base and manipulator. First, the dynamic model of the multi-body system was established. Then, the integrated orbit, attitude and manipulator controller was designed via back stepping method, and the stability of the system was proved. Since all the degrees of freedom are controlled, the abilities of the system to fulfill different tasks are markedly improved, compared to the traditional system whose orbit or attitude is free. Thus, the system with the integrated controller can fulfill simultaneous orbit transfer and attitude maneuver in a large range of space, and meanwhile the manipulator can operate and control accurately. Finally, by establishing complete multi-body system simulation model, the controller was simulated, and the goal of simultaneous orbit, attitude and manipulator control is achieved. The effectiveness of the proposed method is validated.

Key words: space multi-body system, manipulator, orbit control, attitude control, integrated attitude and orbit control

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