空间碎片绳网捕获拖曳恒张力控制

针对空间绳网系统捕获空间碎片后，在轨道转移过程中的精确控制问题，提出一种使用常值拉力将空间碎片拖曳至坟墓轨道的方法。首先，采用牛顿欧拉法建立绳系组合体动力学模型；其次，通过李雅普诺夫方法证明仅使用恒张力即可实现拖曳过程的稳定控制；再次，提出采用常值拉力切换控制律抑制空间碎片的姿态章动，采用基于相平面控制原理的控制律抑制绳系组合体面内面外摆动，规避在轨道转移过程中系绳松弛造成缠绕、系绳张力过大造成断裂或两星接近发生碰撞等风险。最后，通过拖曳离轨全过程仿真分析，校验了所提出控制方法的有效性。

Towing Control of Space Debris with Constant Tension

A method of towing space debris to the grave orbit by constant tension is proposed for the problem of precise control during orbit transfer. In this paper, the dynamics model of a tethered space-tug (TST) system is firstly formulated by the Newton-Euler method. Then the system stability is proved by the Lyapunov method. The attitude nutation of space debris is restrained by using the constant tension switching control law, and the control law based on the phase plane control principle is proposed to stabilize the in-plane and out-plane swing of the tethered combination, thus preventing the collision between the tug spacecraft and debris as well as the twine and breakage of the tether, and ensuring the safety of the towing process. The numerical simulation shows the effectiveness of the above control methods．