带有空间机械臂的航天器系统惯性参数辨识

针对航天器惯性参数在轨辨识问题,文章以空间机械臂为研究对象,建立了带有空间机械臂的航天器系统动力学模型,并进行了空间机械臂的动力学分析。通过规划一种复杂的空间机械臂的运动轨迹,对机械臂各关节施加合适激励的方法,使空间机械臂做充分可变构型运动。该运动会改变航天器系统的惯性分布,从而引起航天器系统速度变化。然后,通过ADAMS(Automatic Dynamic Analysis of Mechanical Systems,机械系统动力学自动分析)软件建模测量这些速度变化,计算出空间机械臂的惯性变化,进而基于动量和动量距守恒的方法建立线性回归方程。最后,通过应用递推最小二乘法解线性回归方程组,辨识出了航天器的惯性参数。仿真分析结果表明了所辨识的航天器惯性参数的有效性和准确性。

Identification of Inertia Parameters for Spacecraft Systems with a Space Manipulator

Considering the problem of on orbit identification of inertia parameters of spacecraft and taking space manipulator as a research object, this paper establishes a dynamics model of the spacecraft system based on a space manipulator, together with analysis of the dynamics model. By planning a complex trajectory of the space manipulator and applying the appropriate incentive for each joint, the space manipulator does variable configuration movement, which leads to a change in the inertia distribution and speed of the spacecraft system. By measuring the change in speed on ADAMS modeling, the inertia variation of space robotics can be computed. Then, a system of linear regression equations is constructed based on conservation of angular momentum and using recursive least square method to solve linear regression equation to identify inertial parameters. Simulation results validate effectiveness and accuracy of the identification of inertial parameters of the spacecraft.