辐射开环空间绳系机器人编队自旋转速最优控制  

Optimal control of the rotating velocity of hub-spoke tethered space robot formation

作　　者：黄攀峰[1,2] 张帆[1,2] 刘彬彬[1,2] 马骏[1,2] 

机构地区：[1]西北工业大学航天学院智能机器人研究中心,陕西西安710072 [2]西北工业大学航天飞行动力学技术重点实验室,陕西西安710072

出　　处：《系统工程与电子技术》2015年第6期1362-1369,共8页Systems Engineering and Electronics

基　　金：国家自然科学基金(11272256)资助课题

摘　　要：辐射开环空间绳系机器人(tethered space robot,TSR)编队是一种新型的空间绳系编队系统,其在构型稳定性、任务灵活性以及燃料消耗方面具有明显的优势。研究了辐射开环TSR编队自旋转速最优控制问题。首先建立了辐射开环TSR编队的自旋动力学模型;然后对编队自旋转速控制问题以及hp-自适应伪谱法求解最优控制问题的基本原理进行了描述,并设计了基于hp-自适应伪谱法的编队自旋转速闭环最优控制系统;最后通过仿真算例对设计的闭环最优控制系统进行验证和分析。The hub spoke tethered space robot （TSR） formation is a novel formation system. The stability, flexibility and fuel consumption of the hub-spoke TSR formation system have been significantly improved. The optimal control problem of the rotating velocity of the hub-spoke TSR formation system is proposed and studied. Firstly, an analytical model is used to describe the rotating hub-spoke TSR formation system. Secondly, the optimal control problem of the rotating velocity and the theory of the hp adaptive pseudospectral method are described. Thirdly, a closed-loop optimal control system based on the hp-adaptive pseudospectral method is estab- lished. Finally, some digital imitations are implemented to validate the proposed closed-loop optimal control system.

关 键 词：空间绳系机器人编队 辐射开环 自旋转速 最优控制 

分 类 号：V445.4[航空宇航科学与技术—飞行器设计]