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针对姿轨控系统已经失效的目标航天器姿态控制问题,提出一种空间机器人抓捕目标后姿态接管控制方法。该方法首先利用空间机器人抓捕目标航天器,并保持在固定构型形成组合航天器;其次确定参数突变后组合航天器新的惯量主轴、主惯量和控制力矩分配矩阵;然后在状态空间建立组合航天器的非线性误差姿态动力学;最后采用-α稳定度设计方法来设计服务航天器的SDRE姿态接管控制器,并通过θ-D求解方法得到SDRE控制器的次最优控制律,实现服务航天器对目标航天器的姿态接管控制。仿真结果表明,相比传统的SDRE控制器设计,基于-α稳定度设计的SDRE控制器能够使得系统闭环极点远离虚轴,θ-D求解方法可以降低计算量,因此具有更好的稳定性和实时性。
In order to solve the attitude control problem of the target spacecraft that the attitude and orbit control system has been invalidated, a posture control method of post-arresting target of space robot is proposed. In this method, the spacecraft is used to capture the target spacecraft and remain in a fixed configuration to form a combined spacecraft. Secondly, a new inertia principal axis, a principal inertia and a control torque distribution matrix of the combined spacecraft are determined after the parameter is abruptly changed. Then, Spacecraft nonlinear error attitude dynamics. At last, the SDAR attitude takeover controller serving the spacecraft is designed by -α stability design method, and the suboptimal control law of the SDRE controller is obtained by the θ-D solution method to realize the service Spacecraft Attitude Control over Target Spacecraft. Simulation results show that compared with the traditional SDRE controller design, the SDRE controller based on -α stability design can make the closed-loop poles of the system far away from the imaginary axis. The θ-D solution can reduce the computational complexity and therefore has better stability and real-time.