一种机械臂驱动电推力器的角动量卸载方法  

A Method for Angular Momentum Unloading Using Electric Thruster Actuated by Robotic Arms

作　　者：孟文沁 贾英宏[1] 潘菲 刘禹 申雨陇 MENG Wenqin;JIA Yinghong;PAN Fei;LIU Yu;SHEN Yulong(School of Astronautics,Beihang University,Beijing 102206,China;Shanghai Aerospace Control Technology Institute,Shanghai 201109,China)

机构地区：[1]北京航空航天大学宇航学院,北京102206 [2]上海航天控制技术研究所,上海201109

出　　处：《宇航学报》2024年第10期1568-1577,共10页Journal of Astronautics

基　　金：国家自然科学基金(11972056)。

摘　　要：为利用电推力器实现地球静止轨道卫星的飞轮角动量卸载和位置保持,提出了一种利用机械臂动态调整电推力器位置以及推力方向的方案,并给出了机械臂指令关节角的求解方法。首先设计了基于三自由度机械臂和单电推进器的构型方案,之后利用机械臂运动学关系建立了电推力器的推力模型以及相对系统质心的力矩模型。以飞轮角动量卸载效率为最优指标,以机械臂各关节转角范围和电推力器推力方向角的限制为约束条件,建立了系统的优化问题模型,并通过粒子群算法对该优化问题进行求解,得到机械臂指令关节角。位置保持的功能通过推力方向角的约束实现。基于地球静止轨道卫星的三轴对地姿态稳定控制数值仿真结果表明,所提出的方案和算法可有效对飞轮组三轴角动量进行卸载,且优化结果满足给定的约束条件。A scheme is proposed to dynamically adjust the position and thrust direction of an electric thruster using a robotic arm in order to achieve flywheel angular momentum unloading and position maintenance of geostationary orbit satellites.The method for solving the command joint angle of the robotic arm is also provided.The configuration scheme,based on a three-degree-of-freedom manipulator and a single electric thruster,is designed.Furthermore,the thrust model of the electric thruster and the torque model relative to the system centroid are established using kinematic relations of the manipulator.An optimization model of the system is then established with flywheel angular momentum unloading efficiency as an optimal index and constraints such as joint Angle range of the manipulator and thrust direction angle of the electric thruster.This optimization problem is solved by particle swarm optimization algorithm to obtain command joint Angles for manipulation while realizing position keeping through constraint on thrust direction angle.Numerical simulation results demonstrate that this proposed scheme effectively unloads three-axis angular momentum of flywheel group,meeting given constraints for three-axis attitude stability control based on geostationary orbit satellite.

关 键 词：地球静止轨道卫星 姿态控制 电推力器 机械臂 动量轮卸载 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]