空间绳系机器人抓捕非合作目标的质量特性参数辨识

针对空间绳系机器人抓捕非合作目标/空间垃圾后需要对其进行回收/拖曳的精确控制问题，提出了一种利用抓捕后保持阶段的振动特性辨识目标参数的方法。首先，根据质量特性参数辨识的需要，推导了系统的动力学模型。不同于以往将本体卫星和被抓捕目标简化为质点的动力学模型，本文针对任意的目标抓捕位置，在考虑重力梯度影响的基础上，利用拉格朗日法获得系统各广义坐标的动力学公式。然后，分析非合作目标和系绳在后抓捕保持阶段的姿态运动。最后，在非合作目标与本体卫星没有任何信息交互的情况下，利用后抓捕阶段目标卫星和系绳特有的振动，并使用具有鲁棒性可遗忘因子的递推最小二乘法，提出了包括转动惯量和质心到任意抓捕点距离在内的质量特性参数辨识算法。

Inertia Parameter Estimation for an Noncooperative Target Captured by a Space Tethered System

A new method of on-line inertia parameter estimation is proposed for the retrieval/de-orbit of rigid noncooperative space debris which is captured by a tethered system. First, the non-dimensional equations of motion of the system are derived according to new dynamics model of the system where the base satellite and the noncooperative target satellite are modeled as two rigid bodies and the arbitrary attachment points of the tether system are offset from the centers of mass of the two bodies. Then, the attitude motions of target satellite and tether system during the post-capture phase are analyzed. Finally, the inertia parameters of noncooperative target satellite are eatimated by using a robust variable forgetting factor recursive least-squares algorithm under the condition that all the information of target is not communicated to the base spacecraft.