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论文:2013,Vol:31,Issue(6):908-914 |
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引用本文： |
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马骏, 黄攀峰, 胡仄虹, 孟中杰. 空间飞网机器人网型保持控制方法研究[J]. 西北工业大学 |
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Ma Jun, Huang Panfeng, Hu Zehong, Meng Zhongjie. A Maneuvering-Net Space Robot′s Maneuvering-Net Maintenance and Control Strategy[J]. Northwestern polytechnical university |
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| 空间飞网机器人网型保持控制方法研究 |
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| 马骏, 黄攀峰, 胡仄虹, 孟中杰 |
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| 西北工业大学 航天学院, 陕西 西安 710072 |
| 摘要: |
| 空间飞网机器人是一种新型的"自主机动单元+柔性网"结构的空间机器人系统,主要应用在空间垃圾清理等空间捕获任务中。首先介绍了空间飞网机器人的概念、任务过程和特点,然后采用质量集中法建立了空间飞网机器人的逼近目标过程中的动力学模型,并对其逼近目标过程中柔性网的网型变化趋势进行了分析。针对逼近目标过程中的网型保持控制问题,提出了一种基于LeaderFollower方法的网型保持控制策略,并通过数字仿真进行了验证和分析。仿真结果表明:提出的控制策略能够有效实现空间飞网机器人逼近目标过程中的网型保持控制。 |
| 关键词:
空间飞网机器人
动力学建模
网型保持
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| A Maneuvering-Net Space Robot′s Maneuvering-Net Maintenance and Control Strategy |
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| Ma Jun, Huang Panfeng, Hu Zehong, Meng Zhongjie |
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| College of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| A maneuvering-net space robot consists of several autonomous maneuvering units and a space net.The space net is tracked by the autonomous maneuvering units, thus enabling the maneuvering-net space robot to fly in outer space along a certain orbit.The space net effectively cleans the space debris in the flight trace of the space ro-bot.We use the lumped mass method to establish the dynamics model of how the space robot approaches its target and then analyze the changes in the shape of the maneuvering net.Hence, we propose what we believe to be effec-tive net shape maintenance and control strategy based on the leader-following method.The simulation results, given in Fig.9, and its analysis show preliminarily that with the net shape maintenance controller we designed, the auton-omous maneuvering units can effectively track the poison and velocity of the target as desired, thus achieving the purpose of maintaining the net shape. |
| Key words:
controllers
maintenance
mathematical models
orbits
robots
space flight
maneuvering-net space robot
net shape maintenance
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| 收稿日期: 2013-04-12
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: 马骏(1985-),西北工业大学博士研究生,主要从事空间机器人技术的研究。
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