柔性空间机械臂在轨操作仿真与分析  

Simulation and Analysis of On-Orbit Operations with Flexible Space Manipulators

作　　者：黎凯 张尧[1] 陈余军[2] LI Kai;ZHANG Yao;CHEN Yujun(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Institute of Telecommunication Satellite,China Academy of Space Technology,Beijing 100094,China.)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]中国空间技术研究院通信卫星事业部,北京100094

出　　处：《空间控制技术与应用》2018年第5期60-69,共10页Aerospace Control and Application

基　　金：国家自然科学基金资助项目(11672035)~~

摘　　要：针对挠性航天器利用柔性空间机械臂在轨操作目标进行分析.首先利用Kane方程和假设模态法对挠性航天器上安装有柔性空间机械臂的系统进行动力学建模.其次,采用修正的罗德里格斯参数描述机械臂末端相对服务航天器的姿态,利用五次多项式对机械臂末端的相对位置与姿态进行规划,并将目标航天器的相对运动进行补偿,基于雅克比矩阵的广义逆求解机械臂关节运动规律.然后,将反馈控制与扩张状态观测器结合,分别设计了航天器姿态稳定控制器和机械臂轨迹跟踪控制器.最后,对柔性空间机械臂捕获目标航天器以及安装模块的过程进行闭环数值仿真,结果表明,所设计的控制器能够使机械臂跟踪期望轨迹,同时使得航天器姿态趋于稳定,机械臂可以较高精度完成在轨操作.The problem of flexible spacecraft utilizing flexible space manipulators to do on-orbit operations on target spacecraft is analyzed.Equations of motion for the spacecraft with flexible appendages and flexible space manipulators are derived based on Kane’s equations and assumed mode method.The Modified Rodrigues Parameters(MRPs)are used to describe the relative attitude of the end-effector to the service spacecraft.The relative position and attitude of the end-effector are planned by means of a quintic polynomial,and the relative motion of the target spacecraft is compensated meanwhile.The expected joint trajectory is obtained via the Moore-Pseudo inverse of the Jacobi matrix.The attitude stabilizing controller of the service spacecraft and the trajectory tracking controller of the manipulator are designed by combining the feedback control and the Extended State Observer,respectively.Simulation results demonstrate the effectiveness of the designed controller.

关 键 词：柔性空间机械臂 挠性附件 轨迹规划 扩张状态观测器 KANE方程 

分 类 号：V448[航空宇航科学与技术—飞行器设计]