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空间站利用再对接机械臂系统(RMS)进行在轨组装时,通常采用核心舱控制力矩陀螺(CMG)进行姿态控制。针对组装过程中CMG角动量可能发生饱和,采用喷气卸载带来严重的控制/结构耦合问题,设计了RMS的运动规律,以减小负载运动对核心舱产生的干扰,避免CMG角动量饱和。鉴于组装过程中空间站质量特性变化很大,设计了强鲁棒非线性姿态控制律,以增强控制系统的抗扰动和适应性能力。
For on-orbit assembly with the Spacer Re-Docking Manipulator System (RMS), the attitude control is usually performed using the CMMI. In order to saturate the angular momentum of CMG during the assembly process, the problem of serious control / structure coupling caused by jet unloading is designed. The RMS motion law is designed to reduce the interference of load motion to the core cabin and avoid the angular momentum saturation of CMG. In view of the great variation of the quality characteristics of the space station in the assembly process, a strong robust nonlinear attitude control law is designed to enhance the anti-disturbance and adaptability of the control system.