| 引用本文: | 朱彦伟,杨乐平.空间机器人抓捕任务的六自由度同步控制逼近策略.[J].国防科技大学学报,2009,31(6):43-49.[点击复制] |
| ZHU Yanwei,YANG Leping.6-DOF Synchronization Control Approach Strategy for Space Robots Capture Mission[J].Journal of National University of Defense Technology,2009,31(6):43-49[点击复制] |
|
| |
|
|
| 本文已被：浏览 8445次 下载 5771次 |
| 空间机器人抓捕任务的六自由度同步控制逼近策略 |
| 朱彦伟, 杨乐平 |
|
(国防科技大学 航天与材料工程学院，湖南 长沙 410073)
|
| 摘要: |
| 利用空间机器人抓捕目标卫星是航天器在轨服务的主要模式之一。针对空间机器人对无控旋转卫星的抓捕逼近问题，为了提高适合抓捕的时间范围，研究了六自由度(6-DOF)同步控制逼近策略。采用修正罗德里格斯参数描述姿态，给出了无控旋转卫星的运动模型；假设空间机器人采用动量轮控制姿态，通过分开处理轨道同步和姿态同步建立了6-DOF同步控制问题模型；考虑惯量参数的不确定性，利用自适应输出反馈控制原理，分别推导了轨道同步和姿态同步跟踪控制律。仿真算例表明在空间机器人惯量参数不确定和摄动作用下可以有效实现同步跟踪。 |
| 关键词: 在轨抓捕 六自由度 逼近 同步控制 自适应输出反馈 |
| DOI： |
| 投稿日期：2009-04-25 |
| 基金项目:国家部委基金资助项目 |
|
| 6-DOF Synchronization Control Approach Strategy for Space Robots Capture Mission |
| ZHU Yanwei, YANG Leping |
|
(College of Aerospace and Materials Engineering, National Univ. of Defense Technology, Changsha 410073, China)
|
| Abstract: |
| On-orbit capture by space robots is one of the main modes of spacecraft on-orbit servicing. For space robots capture of uncontrolled rotating satellites, the 6-DOF synchronization control approach strategy is investigated to improve the time horizon to suit grasp. Firstly, the target motion model is provided, and the attitude is described by modified rodrigues parameters. Then suppose that the attitude control of space robot is actuated by momentum wheels, the 6-DOF synchronization control is conducted in two phases: translational control and rotational control. In consideration of the uncertainty in inertia parameters, the control laws for translational and rotational synchronization are derived respectively by adaptive output feedback control. The simulation results show that the models and algorithms are efficient under the condition of unknown bounded disturbances and inertia parameters uncertainty. |
| Keywords: on-orbit capture 6-DOF approach synchronization control adaptive output feedback |
|
|
