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针对空间绳系机器人对目标抓捕后的复合体姿态稳定控制问题进行了研究。首先,对复合体进行动力学建模,并对其动力学特性进行了分析;然后,考虑复合体的特点、空间绳系机器人燃料有限以及自身姿态控制力的限制,分别设计了系绳主动拉力与推力器推力协调控制器和基于滑模变结构的全推力控制器,并设计了其切换条件,利用两种控制器切换对姿态进行稳定控制;最后,利用仿真实验验证了所提方法的正确性。仿真结果表明,系绳拉力和推力器协调控制方法能够实现对姿态的稳定控制,并且有效地节省姿态控制过程中的燃料消耗。
Aiming at the stability control problem of spacecraft after the target was arrested, Firstly, the dynamic model of the composite body is established and its dynamic characteristics are analyzed. Then, considering the characteristics of the composite body, the limited fuel of the space ro-ro robot and the limitation of its own attitude control force, the active tension of the tether And the thruster thrust coordination controller and the sliding mode variable structure based thrust controller. The switching conditions are designed and the two controllers are used to control the attitude steadily. Finally, the simulation results show that the proposed method is correct Sex. The simulation results show that the coordinated control method of tether tension and thruster can achieve stable control of the attitude and save the fuel consumption in the attitude control process effectively.