空间机器人抓捕目标碰撞后的复合体稳定控制  

Stabilization Control of Combined Spacecraft After Multiple Impacts During Space Robot Capturing the Target

作　　者：韩冬[1,2,3] 黄攀峰[1,2] 刘习尧[1,2] HAN Dong;HUANG Panfeng;LIU Xiyao(Research Center of Intelligent Robotics,School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China;National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi’an 710072,China;School of Physics and Information Engineering,Shanxi Normal University,Linfen 041000,China)

机构地区：[1]西北工业大学航天学院智能机器人研究中心,西安710072 [2]西北工业大学航天飞行动力学技术重点实验室,西安710072 [3]山西师范大学物理与信息工程学院,临汾041000

出　　处：《空间控制技术与应用》2018年第5期38-46,共9页Aerospace Control and Application

基　　金：国家杰出青年科学基金(61725303);国家自然科学基金(61503231)(61773317);中央高校基本科研业务(3102016BJJ03)资助项目~~

摘　　要：空间机器人抓捕目标后构成新的组合航天器.因目标运动估计误差以及抓捕器位姿解算误差,造成抓捕过程的碰撞,碰撞产生的扰动力矩会造成空间机器人失稳,严重时将导致抓捕任务的失败.针对这一问题,提出基于反作用轮重配的反步积分滑模控制方法,通过控制空间机器人的反作用轮吸收角动量,实现复合航天器稳定控制.本文首先对包含反作用轮的复合航天器进行姿态误差动力学建模,然后根据碰撞过程中冲击力大,碰撞时间短的特点,提出了改进的滑模控制方法,并通过Lyapunov方法证明了系统稳定性,最后通过伪逆法将控制力矩在冗余配置的反作用轮间重新分配来完成复合航天器姿态稳定控制.通过仿真对所提出稳定控制方法的正确性和有效性开展验证,结果表明:本文提出的方法具备实现碰撞后复合航天器稳定的能力,算法具有很强的鲁棒性与工程实用性.A new combined spacecraft is formed when the space robot captures the target.However,due to the errors of target movement estimation and the computation solutions of position as well as attitude of end effector,the impact during the capturing process is inevitable.The disturbance torque generated by the impact can decrease the stability of the space robot,which even results in the failure of target capturing tasks.In order to solve this problem,a back-stepping integral sliding mode control(BISMC)method is proposed based on the reconfiguration of the reaction wheel.By controlling the reaction wheel of the space robot to absorb the angular momentum arising from impact,the stability control of the combined spacecraft is achieved.Specifically,we first model the dynamics of attitude estimation errors of the combined spacecraft containing the reaction wheel,and then propose the improved sliding model control method with respect to the characteristics of large impact force and short impact time.The stability of the system is proved by the Lyapunov method,and finally the pseudo-inverse algorithm is proposed to reconstruct the reaction wheel configuration matrix so as to realize the stability control of the combined spacecraft.The correctness and effectiveness of the proposed stability control method are verified by simulation.The results show that the proposed method has the ability to realize the stability of the combined spacecraft after compact.In addition,the algorithm is robust and applicable in practical applications.

关 键 词：空间机器人 碰撞 反步积分滑模控制 复合航天器稳定 

分 类 号：V448[航空宇航科学与技术—飞行器设计]