论文:2017,Vol:35,Issue(5):755-760
引用本文:
朱战霞, 刘红庆, 樊瑞山. 航天器非质心对接点间相对运动建模与控制[J]. 西北工业大学学报
Zhu Zhanxia, Liu Hongqing, Fan Ruishan. Relative Motion Modeling and Control of Non-Centroid Contact Points of Spacecraft[J]. Northwestern polytechnical university

航天器非质心对接点间相对运动建模与控制
朱战霞1,2, 刘红庆1,2, 樊瑞山1,2
1. 西北工业大学 航天学院, 陕西 西安 710072;
2. 航天飞行动力学技术国家级重点实验室, 陕西 西安 710072
摘要:
空间交会对接航天器的对接端口一般位于航天器表面,并非位于质心,但传统的相对运动建模往往采用航天器质心作为参考点,致使在实际操作中需要额外的针对对接端口相对位姿进行规划,无疑会降低操作任务完成效率。为此,基于旋量描述,研究了航天器非质心点间的相对运动建模方法,首先通过引入恰当的转换算子,建立了非质心对接点之间的相对速度旋量,然后利用基本力学原理和旋量理论,详细推导并得到了非质心点相栐运动姿轨耦合模型,该模型不仅避免了姿态解算的奇异,而且姿轨描述形式统一,对航天器控制系统并无额外要求,有利于协同控制器设计。利用此模型,考虑空间摄动及未知干扰影响,文中设计了一种将非线性反馈控制和基于状态偏差对数的PD控制相结合的控制律,并证明了稳定性,完成了仿真验证。结果表明该方法可行、姿轨协调控制效果良好、可精确实现对接端口的对接状态,为空间相对运动姿轨耦合建模与协同控制系统设计提供了理论参考。
关键词:    交会对接    姿轨耦合    旋量描述    控制器    李雅普诺夫方程   
Relative Motion Modeling and Control of Non-Centroid Contact Points of Spacecraft
Zhu Zhanxia1,2, Liu Hongqing1,2, Fan Ruishan1,2
1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Xi'an 710072, China
Abstract:
The docking port of the spacecraft in rendezvous and docking is usually located on the surface of the spacecraft. It is not located in the center of mass. However, the traditional relative motion modeling often uses the spacecraft centroid as the reference point, so that the actual operation requires additional planning for the docking port, will undoubtedly reduce the efficiency of operational tasks. In this paper, based on the spin description, the relative motion modeling method between the non-centroid of spacecraft is studied. Firstly, by introducing the appropriate conversion operator, the relative velocity rotation between non-centroid pairs is established, and then the coupled model of non-centroid relative motion and attitude is deduced by using the mechanics principle and spin theory. The model not only avoids the singularity of attitude calculation, but also has the unified form of description and there is no requirement for the spacecraft control system, which is conducive to collaborative controllers design. Based on this model, considering the influence of spatial perturbation and unknown disturbance, this paper designs a control law combining nonlinear feedback control and PD control based on logarithm of state deviation logarithm, and proves the stability and completes the simulation. The results show that the proposed method is feasible and has good control effect, and the docking state of the docking port can be realized accurately, which provides a theoretical reference for coupling modelling of space relative motion and the design of the coordinated control system.
Key words:    rendezvous and docking    attitude and orbit coupling    spin description    controllers    Lyapunov functions   
收稿日期: 2017-03-01     修回日期:
DOI:
基金项目: 国家自然科学基金(11472213)资助
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作者简介: 朱战霞(1973-),女,西北工业大学教授、博士生导师,主要从事飞行力学与控制及空间操作地面实验方法研究。
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