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论文:2014,Vol:32,Issue(5):811-816 |
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引用本文： |
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王明, 黄攀峰, 常海涛, 台健生. 基于机械臂运动的组合航天器惯性参数在轨辨识[J]. 西北工业大学 |
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Wang Ming, Huang Panfeng, Chang Haitao, Tai Jiansheng. On-Orbit Identification of Inertia Parameters of Compound Spacecraft Using Space Manipulator[J]. Northwestern polytechnical university |
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| 基于机械臂运动的组合航天器惯性参数在轨辨识 |
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| 王明1,2, 黄攀峰1,2, 常海涛1,2, 台健生1,2 |
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1.西北工业大学 航天学院 智能机器人研究中心, 陕西 西安 710012;
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 710012 |
| 摘要: |
| 随着空间技术发展,交会对接任务越来越多,服务航天器与目标航天器对接形成组合航天器后惯性参数会发生明显变化。因此,提出一种基于机械臂运动的组合航天器惯性参数在轨辨识方法。该方法可以分为2步:第一步辨识组合航天器的质量和质心;第二步辨识组合航天器的惯性张量。该方法优点是实现了质量、质心与惯性张量等辨识参数的相互解耦,不需要消耗航天器上宝贵的喷气燃料,仅需要测量航天器的速度,而不是加速度和力。仿真结果验证了方法的有效性。 |
| 关键词:
辨识
对接
动量
组合航天器
惯性参数
空间机械臂
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| On-Orbit Identification of Inertia Parameters of Compound Spacecraft Using Space Manipulator |
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| Wang Ming1,2, Huang Panfeng1,2, Chang Haitao1,2, Tai Jiansheng1,2 |
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1. Research Center of Intelligent Robotics, College of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| With the development of space technology,there will be more and more rendezvous and docking mis-sions.After a server spacecraft is docked to a target satellite,inertia parameters of the compound spacecraft will besignificantly changed.Therefore,an approach is proposed for on-orbit identification of inertia parameters of com-pound spacecraft using space manipulator.This method can be decomposed into two steps.The first step is to iden-tify mass and mass center of the compound spacecraft.The second step is to identify inertia tensor of the compoundspacecraft.The significant advantage of the approach is to decouple the mass,mass center and inertia tensor,with-out consuming valuable jet fuel,and only requires the velocities of the spacecraft to be measured,rather than accel-eration and force.Simulation results and their analysis show preliminarily the effectiveness of the approach. |
| Key words:
identification
docking
momentum
compound spacecraft
inertia parameters
space manipulator
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| 收稿日期: 2014-03-11
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金(11272256、61005062)资助 |
| 通讯作者:
Email： |
| 作者简介: 王明(1984-)，西北工业大学博士研究生，主要从事空间机器人控制研究。
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