基于四元数方法的绳系机器人姿态控制  

Attitude Control of Targets Captured by Tethered Space Robots Based on the Quaternion Theory

作　　者：徐方暖 王博 邓子辰[1] 李庆军[1] 魏乙[1] 

机构地区：[1]西北工业大学工程力学系,西安710072 [2]钱学森空间技术实验室,北京100094

出　　处：《应用数学和力学》2017年第12期1309-1318,共10页Applied Mathematics and Mechanics

基　　金：国家自然科学基金(11432010)~~

摘　　要：为进一步提升空间绳系机器人在轨服务能力,研究了空间绳系机器人抓捕目标后的复合体姿态控制问题.首先,基于四元数原理,描述了空间绳系机器人在抓捕目标后组成的复合体姿态,建立了空间绳系机器人系统的动力学方程;其次,针对带约束的动力学控制方程,结合投影技术和Runge-Kutta方法,构造了一种保四元数范数的显式投影方法;最后,通过数值实验,验证了所提出数值方法的有效性,同时分析了采用系绳和推力器同时控制,采用系绳、推力器相互切换控制,以及单独采用推力器进行控制这3种方式对空间绳系机器人抓捕目标后的复合体姿态的控制效果和能量消耗.For better understanding of tethered space robot systems to be used in the future on-orbit service,the attitude control problem of targets captured by tethered space robots was investigated. Firstly,based on the quaternion theory,the governing equations for the combined body of the target and the tethered space robot were constructed. Secondly,a projected Runge-Kutta method was developed for the issue of constraint systems,and this method is explicit and can preserve the norm of quaternions. Finally,a numerical example was given to validate the proposed model and the numerical method,where 3 kinds of control strategies were compared in terms of control effectiveness and energy consumption.

关 键 词：空间绳系机器人 四元数 投影Runge-Kutta方法 姿态控制 

分 类 号：V11[航空宇航科学与技术—人机与环境工程]