机器人Issue(1)：25-34,10.DOI:10.13973/j.cnki.robot.2015.0025
基于机械臂耦合力矩评估的组合航天器姿态协调控制
Coordinated Attitude Control of Combined Spacecraft Based on Estimated Coupling Torque of Manipulator
摘要
Abstract
In order to realize the attitude stability of a service spacecraft and a target spacecraft after docking in on-orbit servicing missions, an attitude coordination control approach for the combined spacecraft is proposed based on the estimated coupling torque of a manipulator. Firstly, the dynamic modeling and analysis of the space manipulator and the combined spacecraft are established. Secondly, the attitude of the combined spacecraft is adjusted by the coordinated motion of the space manipulator, which takes advantage of the dynamic coupling between the combined spacecraft and the space manipulator, and the corresponding coordinated planning approach is presented. Furthermore, the attitude of the combined spacecraft is controlled by the space manipulator with assistance of the reaction wheels, since the fuel in traditional spacecrafts is limited and the reaction wheels are prone to be saturated. Next, the coordinated attitude controller is designed based on the estimated coupling torque of the space manipulator. Finally, the proposed coordinated control method is analyzed and compared with the conventional spacecraft attitude control method through simulation. The results show that the proposed method can achieve the attitude stable control of the combined spacecraft through the space manipulator and the reaction wheels, without using expensive jet fuel.关键词
航天器/协调控制/耦合/机械臂/姿态Key words
spacecraft/coordinated control/coupling/manipulator/attitude分类
信息技术与安全科学引用本文复制引用
王明,黄攀峰,常海涛,王东科..基于机械臂耦合力矩评估的组合航天器姿态协调控制[J].机器人,2015,(1):25-34,10.基金项目
国家自然科学基金资助项目（11272256,61005062）． （）
