辐射开环空间绳系机器人编队自旋转速最优控制
|
摘要
辐射开环空间绳系机器人(tethered space robot,TSR)编队是一种新型的空间绳系编队系统,其在构型稳定性、任务灵活性以及燃料消耗方面具有明显的优势。研究了辐射开环TSR编队自旋转速最优控制问题。首先建立了辐射开环TSR编队的自旋动力学模型;然后对编队自旋转速控制问题以及hp-自适应伪谱法求解最优控制问题的基本原理进行了描述,并设计了基于hp-自适应伪谱法的编队自旋转速闭环最优控制系统;最后通过仿真算例对设计的闭环最优控制系统进行验证和分析。
The hub-spoke tethered space robot(TSR)formation is a novel formation system.The stability,flexibility and fuel consumption of the hub-spoke TSR formation system have been significantly improved.The optimal control problem of the rotating velocity of the hub-spoke TSR formation system is proposed and studied.Firstly,an analytical model is used to describe the rotating hub-spoke TSR formation system.Secondly,the optimal control problem of the rotating velocity and the theory of the hp-adaptive pseudospectral method are described.Thirdly,a closed-loop optimal control system based on the hp-adaptive pseudospectral method is established.Finally,some digital imitations are implemented to validate the proposed closed-loop optimal control system.
The hub-spoke tethered space robot(TSR)formation is a novel formation system.The stability,flexibility and fuel consumption of the hub-spoke TSR formation system have been significantly improved.The optimal control problem of the rotating velocity of the hub-spoke TSR formation system is proposed and studied.Firstly,an analytical model is used to describe the rotating hub-spoke TSR formation system.Secondly,the optimal control problem of the rotating velocity and the theory of the hp-adaptive pseudospectral method are described.Thirdly,a closed-loop optimal control system based on the hp-adaptive pseudospectral method is established.Finally,some digital imitations are implemented to validate the proposed closed-loop optimal control system.
引文
[1]Nohmi M,Nenchev D N,Uchiyama M.Momentum control of a tethered space robot through tether tension control[C]∥Proc.of the IEEE International Conference on Robotics&Automation,1998:920-925.
[2]Nohmi M.Attitude control of a tethered space robot by link motion under microgravity[C]∥Proc.of the IEEE International Conference on Control Applications,2004:424-429.
[3]Xu X D,Huang P F,Meng Z J,et al.Research on attitude fault tolerant control method for space tethered robot[J].Journal of Astronautics,2012,33(8):1096-1103.(徐秀栋,黄攀峰,孟中杰,等.空间绳系机器人姿态容错控制方法研究[J].宇航学报,2012,33(8):1096-1103.)
[4]Xu X D,Huang P F,Meng Z J.Space tethered robot coordinated control method for approaching the target.[J].Acta Aeronautica et Astronautica Sinica,2013,33(5):1222-1231.(徐秀栋,黄攀峰,孟中杰.空间绳系机器人逼近目标协调控制方法[J].航空学报,2013,33(5):1222-1231.)
[5]Wang D K,Huang P F,Meng Z J,et al.Coordinated attitude control of the combination system after capture by a tethered space robot.[J].Acta Aeronautica et Astronautica Sinica,2013,34(8):1998-2006.(王东科,黄攀峰,孟中杰,等.空间绳系机器人抓捕后复合体姿态协调控制研究[J].航空学报,2013,34(8):1998-2006.)
[6]Hu Q L,Zhang J,Ma G F.L2-gain based adaptive sliding mode coordinated attitude control of satellite formation with time-varying delays[J].Systems Engineering and Electronics,2013,35(11):2356-2363.(胡庆雷,张健,马广富.含时变时延的卫星编队姿态协同自适应滑模L2增益控制[J].系统工程与电子技术,2013,35(11):2356-2363.)
[7]Xu X D,Huang P F,Ma J.Coordinated position and attitude control method of tethered space robot[C]∥Proc.of the IEEE International Conference on Robotics and Biomimetics,2013:1526-1531.
[8]Meng Z J,Huang P F.Coordinated approach control method of tethered space robot system[C]∥Proc.of the IEEE Conference of Industrial Electronics and Applications,2013:1314-1318.
[9]Tibert G,Gardsback M.Space webs final report[R].Stockholm:European Space Agency,2006.
[10]Pizarro-Chong A,Misra A K.Dynamics of multi-tethered sat-ellite formations containing aparent body[J].Acta Astronautica,2008,63(11/12):1188-1202.
[11]Tibert G,Lennon A.Deployment strategies for the space tow solar sail[C]∥Proc.of the 1st International Symposium on Solar Sailing,2007:27-29.
[12]Gardsback M,Tibert G.Deployment control of spinning space webs[J].Journal of Guidance,Control,and Dynamics,2009,32(1):40-50.
[13]Gardsback M,Tibert G.Optimal deployment control of spinning space webs and membranes[J].Journal of Guidance,Control,and Dynamics,2009,32(5):1519-1530.
[14]Gardsback M.Deployment control of spinning space webs and membranes[R].Stockholm:Royal Institute of Technology,Department of Mechanics,2008.
[15]Gardsback M,Tibert G,Izzo D.Design considerations and deployment simulations of spinning space webs[C]∥Proc.of the48th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics,and Materials Conference,2007:1829-1838.
[2]Nohmi M.Attitude control of a tethered space robot by link motion under microgravity[C]∥Proc.of the IEEE International Conference on Control Applications,2004:424-429.
[3]Xu X D,Huang P F,Meng Z J,et al.Research on attitude fault tolerant control method for space tethered robot[J].Journal of Astronautics,2012,33(8):1096-1103.(徐秀栋,黄攀峰,孟中杰,等.空间绳系机器人姿态容错控制方法研究[J].宇航学报,2012,33(8):1096-1103.)
[4]Xu X D,Huang P F,Meng Z J.Space tethered robot coordinated control method for approaching the target.[J].Acta Aeronautica et Astronautica Sinica,2013,33(5):1222-1231.(徐秀栋,黄攀峰,孟中杰.空间绳系机器人逼近目标协调控制方法[J].航空学报,2013,33(5):1222-1231.)
[5]Wang D K,Huang P F,Meng Z J,et al.Coordinated attitude control of the combination system after capture by a tethered space robot.[J].Acta Aeronautica et Astronautica Sinica,2013,34(8):1998-2006.(王东科,黄攀峰,孟中杰,等.空间绳系机器人抓捕后复合体姿态协调控制研究[J].航空学报,2013,34(8):1998-2006.)
[6]Hu Q L,Zhang J,Ma G F.L2-gain based adaptive sliding mode coordinated attitude control of satellite formation with time-varying delays[J].Systems Engineering and Electronics,2013,35(11):2356-2363.(胡庆雷,张健,马广富.含时变时延的卫星编队姿态协同自适应滑模L2增益控制[J].系统工程与电子技术,2013,35(11):2356-2363.)
[7]Xu X D,Huang P F,Ma J.Coordinated position and attitude control method of tethered space robot[C]∥Proc.of the IEEE International Conference on Robotics and Biomimetics,2013:1526-1531.
[8]Meng Z J,Huang P F.Coordinated approach control method of tethered space robot system[C]∥Proc.of the IEEE Conference of Industrial Electronics and Applications,2013:1314-1318.
[9]Tibert G,Gardsback M.Space webs final report[R].Stockholm:European Space Agency,2006.
[10]Pizarro-Chong A,Misra A K.Dynamics of multi-tethered sat-ellite formations containing aparent body[J].Acta Astronautica,2008,63(11/12):1188-1202.
[11]Tibert G,Lennon A.Deployment strategies for the space tow solar sail[C]∥Proc.of the 1st International Symposium on Solar Sailing,2007:27-29.
[12]Gardsback M,Tibert G.Deployment control of spinning space webs[J].Journal of Guidance,Control,and Dynamics,2009,32(1):40-50.
[13]Gardsback M,Tibert G.Optimal deployment control of spinning space webs and membranes[J].Journal of Guidance,Control,and Dynamics,2009,32(5):1519-1530.
[14]Gardsback M.Deployment control of spinning space webs and membranes[R].Stockholm:Royal Institute of Technology,Department of Mechanics,2008.
[15]Gardsback M,Tibert G,Izzo D.Design considerations and deployment simulations of spinning space webs[C]∥Proc.of the48th AIAA/ASME/ASCE/AHS/ASC Structures,Structural Dynamics,and Materials Conference,2007:1829-1838.