空间绳系机器人逼近目标协调控制方法

 为了节省空间绳系机器人的末端执行装置在逼近目标卫星过程中推力器所使用的燃料,本文提出一种利用推力器、反作用轮及空间系绳的协调控制方法。首先利用二次型最优控制器(LQR)算法计算出末端执行装置逼近目标所需的理想轨道控制力,然后利用模拟退火算法将所需轨道控制力优化分配到推力器及空间系绳,同时利用时间延迟算法通过反作用轮补偿空间系绳产生的姿态干扰力矩。仿真结果表明,利用该协调控制方法能显著节省末端执行装置上推力器的燃料消耗,有效抑制空间系绳协调控制力产生的姿态干扰,使末端执行装置保持相对稳定的姿态。

Coordinated Control Method of Space Tethered Robot for Approaching Targets

In order to save the thruster fuel of an end effector for a space tethered robot in the process of approaching a target satellite, a coordinated control method is proposed in the paper which utilizes the thruster, the reaction wheel and the space tether. First, this method calculates the ideal orbit control force of the end effector for the approaching target by linear quadratic regulator (LQR) algorithm. Then this force is allocated to the thrusters and space tether through optimization using a simulated annealing algorithm. Simultaneously, the attitude interferential torque of the space tether is compensated through a reaction wheel using the time delay algorithm. The simulation results show that the coordinated control method can significantly save thruster fuel of the end effector, and it also restrains attitude disturbance produced by the coordinated control force of the space tether and maintains relative attitude stability of the end effector.