【摘 要】
：
为实现两个飞行器间的在轨补加任务,可通过主飞行器携带的空间机械臂直接捕获、抓取目标飞行器,然后转位到补加对接口,进行对接补加,从而避免直接交会对接过程中两飞行器的剧烈碰撞[1-2].由于两个飞行器质量惯量参数相近,转位过程中组合体的质心和转动惯量等质量参数的大范围变化[3],主飞行器姿态控制较为困难.本文根据机械臂抓捕位置和两飞行器对接方向,规划机械臂转位路径,确定系统结构和参数,并分析无控状态下
【机 构】
：
六室 上海宇航系统工程研究所,上海市 201109
【出 处】
：
第十届全国多体动力学与控制暨第五届全国航天动力学与控制学术会议(MDAD2017)
论文部分内容阅读
为实现两个飞行器间的在轨补加任务,可通过主飞行器携带的空间机械臂直接捕获、抓取目标飞行器,然后转位到补加对接口,进行对接补加,从而避免直接交会对接过程中两飞行器的剧烈碰撞[1-2].由于两个飞行器质量惯量参数相近,转位过程中组合体的质心和转动惯量等质量参数的大范围变化[3],主飞行器姿态控制较为困难.本文根据机械臂抓捕位置和两飞行器对接方向,规划机械臂转位路径,确定系统结构和参数,并分析无控状态下,主飞行器的姿态变化规律,进而研究以飞轮和喷气为执行机构,采用自适应参数调整的姿态控制方法[4],建立组合体动力学与控制模型[5-7],实现变拓扑结构组合体的姿态稳定.仿真结果表明,主飞行器将目标飞行器转位180°过程中,主飞行器的姿态控制精度优于0.1°,角速度精度优于0.01°/s,证明了控制方案的可行性.
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