| 面向空间近距离操作的机械臂与服务卫星协同控制 |
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| 引用本文： | 王兴龙,周志成,王典军,陈士明. 面向空间近距离操作的机械臂与服务卫星协同控制[J]. 宇航学报, 2020, 41(1): 101-109. DOI: 10.3873/j.issn.1000-1328.2020.01.012 |
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| 作者姓名： | 王兴龙 周志成 王典军 陈士明 |
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| 作者单位： | 中国空间技术研究院通信卫星事业部，北京 100094 |
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| 基金项目： | 国家自然科学基金（11272334） |
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| 摘 要： | 针对航天器在轨服务任务中涉及的空间近距离操作需求，提出一种机械臂与服务卫星协同控制方法。首先建立了机械臂和服务卫星组合体动力学模型以及服务卫星和目标卫星相对位姿耦合动力学模型。然后采用全局终端滑模控制设计了机械臂轨迹跟踪控制方法，采用PD控制设计了服务卫星相对位姿耦合控制方法，并将机械臂反作用力和力矩作为前馈补偿叠加到服务卫星控制系统中，实现了两者的协同控制。最后通过数值仿真验证了控制方法的有效性。仿真结果表明，该方法能够满足空间近距离操作任务对机械臂和服务卫星的控制精度、稳定性和误差收敛时间的要求，具有工程实用性。
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| 关 键 词： | 空间近距离操作 机械臂 服务卫星 协同控制 |
| 收稿时间： | 2018-12-01 |
Cooperative Control of Manipulator and Servicing Satellite for Spatial Proximal Operation |
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| WANG Xing long,ZHOU Zhi cheng,WANG Dian jun,CHEN Shi ming. Cooperative Control of Manipulator and Servicing Satellite for Spatial Proximal Operation[J]. Journal of Astronautics, 2020, 41(1): 101-109. DOI: 10.3873/j.issn.1000-1328.2020.01.012 |
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| Authors: | WANG Xing long ZHOU Zhi cheng WANG Dian jun CHEN Shi ming |
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| Affiliation: | Institute of Telecommunication Satellite, China Academy of Space Technology, Beijing 100094, China |
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| Abstract: | Contraposing the requirement of spatial proximal operation involved in a spacecraft on-orbit service mission, a cooperative control method of a manipulator and a servicing satellite is proposed in this paper. Firstly, the dynamic model of the manipulator and the servicing satellite is established. The coupled dynamic model of the relative position and attitude between the servicing and the target satellites is derived as well. Then, a trajectory tracking control method of the manipulator is developed on the basis of the global terminal sliding mode control and a coupled control method for the relative position and attitude of the servicing satellite is designed by use of the PD control. Furthermore, the reaction force and torque of the manipulator are superposed to the control system of the servicing satellite as feedforward compensation to realize the cooperative control. Finally, the numerical simulations are carried out to verify the effectiveness of the cooperative control method. The results illustrate that the proposed method is applicable in engineering for the control precision, stability and error convergence time of the manipulator and the servicing satellite in the spatial proximal operation mission. |
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| Keywords: | Spatial proximal operation Manipulator Servicing satellite Cooperative control |
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