Modeling and simulations of orbital capture with space tether-net system  

作　　者：翟光 仇越 梁斌 李成 

机构地区：[1]Dept. of Control Science and Engineering, Harbin Institute of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2009年第2期172-178,共7页哈尔滨工业大学学报（英文版）

基　　金：Sponsored by the High Technology Research & Development Program of China(Grant No.2002AA742012)

摘　　要：A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories after being cast, the non-controlled R-bar and V-bar captures were simulated with ignoring the out-of-plane libration, and the effect of in-plane libration on the trajectories of the capture net was demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension was investigated, then an integrated control scheme was proposed by introducing thrusters into the system, and the nonlinear close-loop dynamics was linearised by feedforward strategy. Simulation results show that the feedforward controller is effective for in-plane libration damping and enables the capture net to track an expected trajectory.A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories after being cast, the noncontrolled R-bar and V-bar captures were simulated with ignoring the out-of-plane libration, and the effect of inplane libration on the trajectories of the capture net was demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension was investigated, then an integrated control scheme was proposed by introducing thrusters into the system, and the nonlinear close-loop dynamics was linearised by feedforward strategy. Simulation results show that the feedforward controller is effective for in- plane libration damping and enables the capture net to track an expected trajectory.

关 键 词：tether-net system orbital caDture modeling simulation feedforeward control 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V448.2[自动化与计算机技术—控制科学与工程]