柔性空间机械臂捕获卫星过程的碰撞动力学、镇定控制和柔性振动线性二次最优抑制

研究空间机械臂系统捕获卫星过程的碰撞动力学及受碰撞后不稳定系统的控制问题. 利用第二类拉格朗日方程推导得到空间机械臂系统的动力学模型. 在空间机械臂捕获卫星而受碰撞冲击过程中，利用动量冲量法评估碰撞冲击对空间机械臂系统运动状态变化的影响效应. 为使受碰撞冲击后不稳定的空间机械臂与被捕获卫星组合体系统恢复稳定，设计了线性反馈和线性二次最优复合控制算法对受碰撞冲击后空间机械臂系统进行镇定控制和柔性杆振动抑制，所提出的控制算法无需控制漂浮基的位置，从而可以节省漂浮基位置控制推进器燃料消耗. 通过数值算例模拟了碰撞冲击对空间机械臂系统运动状态的影响效应并验证上述控制算法的效果. 

Impact Dynamics of Flexible Space Manipulator Capturing a Satellite,Stabilization Control and Flexible Vibration Linear Quadratic Optimal Suppression

The impact dynamics of space manipulator system capturing a satellite, and control of post-impact unstable system were discussed. The dynamics model of space manipulator system was derived by the second Lagrange equation. At the impact moment when the space manipulator capturing a satellite, the impact effect for the space manipulator was calculated by momentum impulse method. For stabilizing the post-impact unstable space manipulator and satellite combination system, the linear feedback and linear quadratic optimal composite control algorithm was proposed for the space manipulator stabilization control and flexible link vibration suppression, and there was no need for the position control of the free-floating base under the proposed control algorithm employed, which would save the fuel consumption of free-floating base thruster. Finally, numerical examples are proposed to simulate the impact effect for space manipulator motion state which is caused by the impact, and the effectiveness of above control algorithm is verified.