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考虑带可控机械臂绳系卫星的面内运动,研究其释放阶段的子星位置和姿态控制问题.系绳释放时,通过调整机械臂转角实现子星姿态的无动量轮控制.控制律设计分为两步:首先,基于非线性最优控制理论,研究在状态和控制约束下的子星位置及其姿态控制,通过二阶Legendre伪谱法求解开环最优控制律;其次,以开环解为参考,基于轨迹跟踪思想设计反馈控制器,其中反馈控制增益由开环最优控制算法及数值插值确定.最后通过算例研究验证了该方法的有效性.
Considering the in-plane motion of satellites with controlled robotic arms, the problem of satellite position and attitude control in the release phase is studied.The momentum control of the sub-stars attitude is realized by adjusting the manipulator angle when the tether is released. It is divided into two steps: Firstly, based on the nonlinear optimal control theory, the position and attitude control of the sub-stars under state and control constraints are studied, and the second-order Legendre pseudospectral method is used to solve the open-loop optimal control law. Secondly, The feedback controller is designed based on trajectory tracking, in which the feedback control gain is determined by the open-loop optimal control algorithm and numerical interpolation. Finally, an example is given to verify the effectiveness of the proposed method.