大型空间柔性组合航天器动力学建模与控制  

Dynamic modeling and control of large flexible spacecraft combination

作　　者：周志成[1] 王兴龙[1] 曲广吉[1] ZHOU ZhiCheng;WANG XingLong;QU GuangJi(Institute of Telecommunication Satellite,China Academy of Space Technology,Beijing 100094,China)

机构地区：[1]中国空间技术研究院通信卫星事业部,北京100094

出　　处：《中国科学：物理学、力学、天文学》2019年第2期58-69,共12页Scientia Sinica Physica,Mechanica & Astronomica

基　　金：国家自然科学基金(批准号:11272334)资助项目

摘　　要：航天器在轨组装制造和在轨服务维护任务中,捕获航天器通过空间机械臂捕获目标航天器后,整个系统构成一个大型空间柔性组合航天器.本文首先建立了综合考虑机械臂关节、臂杆和航天器太阳翼等柔性部件振动影响的组合航天器动力学模型,采用非线性扭簧模型描述柔性关节,采用假设模态法和有限元法描述柔性臂杆和太阳翼,通过动量守恒和拉格朗日方法推导了柔性组合航天器的动力学方程.然后设计了柔性组合航天器轨迹跟踪与振动抑制复合控制系统,采用奇异摄动方法对组合航天器动力学模型进行了降阶分解,在快慢两种不同时间尺度内分别独立设计了控制器.最后通过数值仿真验证了建模和控制方法的有效性.仿真结果表明,本文所建动力学模型精确有效,能够准确反映柔性组合航天器的运动学和动力学特性;复合控制方法能够保证组合航天器在实现机械臂精确轨迹跟踪控制的同时有效抑制柔性部件振动,具有工程实用性.In the mission of spacecraft on-orbit assembly and service,a large flexible spacecraft combination will be formed by the capturing spacecraft and the target spacecraft after the space manipulator completes the capturing misssion.First,taking comprehensive consideration of vibration influence of all the flexible components as the joints,links and solar arrays,the dynamic model of the spacecraft combination is established.The non-linear torsional spring models are adopted for flexible joints description;the assumed mode method and the finite element method are adopted for the flexible links and solar arrays;and the dynamic equation of the flexible spacecraft combination is established by use of the momentum conservation and the Lagrange equation.In addition,a composite controller of the flexible spacecraft combination is designed for trajectories tracking and vibration suppressing.The dynamic model of the flexible spacecraft combination is decomposed by use of the singular perturbation method and the two sub-controllers are designed seperately in two different time scales.Finally,the numerical simulations are carried out to verify the effectiveness of the modeling and control methods.The results illustrate that the dynamic model is accurate and effective for representing the kinematic and dynamic properties of the flexible spacecraft combination,and the composite control method is able to guarantee the trajectory tracking pricision as well as effective vibration suppression of the flexible components.The dynamic modeling and control method are applicable for engineering practice.

关 键 词：在轨服务 柔性组合航天器 空间机械臂 动力学建模 轨迹跟踪 振动抑制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计] V414