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针对绳系子星远距离释放的情况,考虑展开控制机构特性、系绳弹性和质量,基于牛顿力学分析方法建立了空间系绳系统在地心惯性坐标系下的动力学方程。基于此简化模型,运用改进的标称张力控制律,优化得到系绳展开的标称轨迹;为了实现对标称轨迹的跟踪,基于考虑控制机构力限制的非典型最优准则,设计了比例微分控制器来调节张力控制量;采用文中修正控制律对空间系绳系统远距离展开过程作了数值仿真,并且依据仿真曲线分析了系绳横纵向振动特性及子星运动规律。结果表明,本文的简化模型有效地反映了空间系绳系统展开的动力学特性,且在系统实际展开过程中实现了对标称轨迹的跟踪。这为今后远距离系绳展开与控制提供了理论参考。
Considering the characteristics of the control mechanism, the tether’s elasticity and the mass, considering the release of the tethered subsatellite, the dynamics equations of the space tether system in the geocentric inertial coordinate system are established based on the Newton mechanics analysis method. Based on this simplified model, an improved nominal tension control law is used to optimize the nominal trajectory of tether deployment. In order to achieve the tracking of the nominal trajectory, based on the non-canonical optimality criterion considering the force limitation of the control mechanism, Controller to adjust the amount of tension control. Using the modified control law in this paper, the numerical simulation of the long-distance deployment of the space tether system is carried out. According to the simulation curves, the horizontal and vertical vibration characteristics of the tether and the motion of the sub-stars are analyzed. The results show that the simplified model in this paper effectively reflects the dynamic characteristics of the tethered space system and realizes the tracking of the nominal trajectory during the system actual deployment. This provides a theoretical reference for the deployment and control of long-range tethers in the future.