| 空间机械臂抓取目标动力学与寻的制导控制 |
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| 引用本文： | 韩艳铧.空间机械臂抓取目标动力学与寻的制导控制[J].宇航学报,2016,37(9):1098-1106. |
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| 作者姓名： | 韩艳铧 |
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| 作者单位： | 南京航空航天大学航天学院，南京210016 |
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| 基金项目： | 中央高校基本科研业务费专项资金资助（NS2016082） |
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| 摘 要： | 针对安装有两连杆机械臂的航天器对地球圆轨道上的空间目标已形成自由绕飞（即满足齐次C-W方程）的情形，研究通过机械臂抓取该目标的系统动力学建模与制导控制问题。在目标固连旋转参考系下，运用非惯性系下的拉格朗日分析力学，建立了两连杆机械臂系统动力学方程。忽略惯性耦合影响，对模型进行了合理简化，在此基础上设计了机械臂末端执行器即机械手抓取目标的寻的制导控制规律。然后代入原始复杂模型，进行数值仿真校验。结果表明，在机械臂载体自由绕飞空间目标的条件下，机械手能够准确地抓住目标。
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| 关 键 词： | 空间机械臂 空间目标 非惯性系 拉格朗日分析力学 寻的制导 |
| 收稿时间： | 2016-01-04 |
Dynamics and Homing Guidance for Space Manipulator Capturing On Orbit Target |
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| HAN Yan hua.Dynamics and Homing Guidance for Space Manipulator Capturing On Orbit Target[J].Journal of Astronautics,2016,37(9):1098-1106. |
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| Authors: | HAN Yan hua |
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| Affiliation: | College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China |
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| Abstract: | The system dynamics modeling and homing guidance design are studied for the space manipulator whose carrier is flying freely governed by the homogeneous C-W equations around a space target. Under the target fixed rotating coordinate system, the non-inertial reference system based Lagrange analytical mechanics is used to derive the dynamics equations of the two-link robotic manipulator during capturing the space target. Then the homing guidance law of the end-effector of the manipulator is designed using the properly simplified dynamics model. Finally, numerical simulation for the closed loop dynamics is conducted by substituting the guidance law into the original complex dynamics model. The correctness of the model derived and the effectiveness of the guidance law designed are verified by the simulation results. |
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| Keywords: | Space manipulator Space target Non-inertial system Lagrange analytical mechanics Homing guidance〖HT〗〖HK〗〖BF〗 |
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