辐射开环空间绳系机器人编队动力学及控制

提出了一种新型辐射开环空间绳系机器人编队系统，其在编队稳定性、任务灵活性及燃料消耗等方面具有明显的优势。针对辐射开环空间绳系机器人编队系统自旋运动过程中的构型误差控制问题，首先建立了编队系统的自旋动力学模型；然后分析了空间绳系机器人的绳系拉力和空间平台的自旋扭矩对编队系统自旋运动中出现的构型误差的控制能力；设计了一种依靠空间绳系机器人绳系拉力和空间平台自旋扭矩作为控制量，对构型误差进行控制的协调控制方法；最后通过数字仿真进行了校验和分析。仿真结果表明：设计的协调控制方法能够明显改善编队系统自旋运动中构型误差的控制效果。

Dynamics and Control of the Hub Spoke Tethered Space Robot Formation System

This hub spoke open loop tethered space robot formation system is a novel formation conception. Stability, flexibility and fuel consumption of the hub spoke tethered space robot formation system have been significantly improved. Concerning with the error control problem in spinning process of the hub spoke tethered space robot formation system, firstly a spinning dynamics model is established based on some reasonable assumption. Secondly the controllability of the tether force and the spinning torque are detailed discussed. Thirdly a coordinated control method for tether force and spinning torque is introduced for the error control of the hub spoke tethered space robot formation system. Finally some digital simulations are implemented. The simulation results indicate that the proposed coordinate control method of tether force and spinning torque is feasible and effective.