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超近程逼近过程中,服务航天器为刚柔液耦合的复杂系统,单摆等液体晃动模型不再适用,对这种工况下的航天器进行了动力学建模与控制的研究。采用虚功率原理推导了一种新的适用于三轴推力作用下的液体晃动等效模型,通过引入相对位置导引矢量与相对位置误差矢量,建立了相对轨道误差动力学模型,结合相对姿态动力学模型,得到超近程逼近段的刚柔液耦合的相对轨道姿态动力学模型。针对模型存在的不确定性和未知干扰,设计了基于滑模估计器的相对姿轨耦合控制律。通过数学仿真验证了控制律的有效性,仿真中的晃动结果与Flow-3D结果能够吻合,验证了晃动模型的合理性。
In the process of near-haul approximation, the spacecraft serving spacecraft is a complicated system with rigid-flexible coupling, and the liquid rocking model such as pendulum is no longer applicable. The dynamics modeling and control of this spacecraft are studied. Based on the virtual power principle, a new equivalent model of liquid sloshing for triaxial thrust is deduced. By introducing the relative position vector and the relative position error vector, a relative orbit error dynamics model is established. Combining the relative attitude dynamics Model, the relative orbit attitude dynamics model of the coupled rigid-flexible coupling is obtained. Aiming at the uncertainties of the model and the unknown interference, the relative attitude-rail coupled control law based on sliding mode estimator is designed. The validity of the control law is verified by the mathematical simulation. The simulation result of the shaking is in good agreement with the result of Flow-3D, and the rationality of the shaking model is verified.