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阐述了卫星灵巧飞行的概念,针对慢旋非合作目标逼近与捕获任务,建立了航天器近距离轨迹规划模型,采用高斯伪谱法得出最优逼近轨迹。采用全状态反馈控制律,实现姿轨耦合的轨迹跟踪控制。建立了五自由度机械臂的动力学模型,设计了零冲击抓捕过程中的姿轨、机械臂与末端执行器的协同控制算法。仿真结果表明,采用反馈控制律可实现对最优轨迹的跟踪,设计的姿轨机械臂与末端执行器的协同控制算法可实现零冲击抓捕。
In this paper, the concept of satellite agile flight is described. Aiming at the problem of slow rotation non-cooperative target approximation and acquisition, a model of short-range trajectory planning of spacecraft is established. The optimal approximation trajectory is obtained by Gaussian pseudospectral method. The whole state feedback control law is adopted to realize the trajectory tracking control of attitude-rail coupling. The dynamics model of a 5-DOF manipulator is established, and the coordinated control algorithm of the manipulator and the end effector is designed. The simulation results show that the feedback control law can be used to track the optimal trajectory. The coordinated control algorithm of the designed post-and-arm manipulator and the end effector can achieve zero-impact capture.