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为了节省空间绳系机器人的末端执行装置在逼近目标卫星过程中推力器所使用的燃料,本文提出一种利用推力器、反作用轮及空间系绳的协调控制方法。首先利用二次型最优控制器(LQR)算法计算出末端执行装置逼近目标所需的理想轨道控制力,然后利用模拟退火算法将所需轨道控制力优化分配到推力器及空间系绳,同时利用时间延迟算法通过反作用轮补偿空间系绳产生的姿态干扰力矩。仿真结果表明,利用该协调控制方法能显著节省末端执行装置上推力器的燃料消耗,有效抑制空间系绳协调控制力产生的姿态干扰,使末端执行装置保持相对稳定的姿态。
In order to save the fuel used by thrusters in the end-of-line implementation of spacecraft in approaching the target satellites, a coordinated control method using thrusters, reaction wheels and space tethers is proposed. Firstly, the ideal orbital control force required by the end effector to approach the target is calculated by using the quadratic optimal controller (LQR) algorithm. Then, the simulated or simulated annealing algorithm is used to optimally distribute the required orbital control force to the thruster and the space tether. Meanwhile, The time delay algorithm is used to compensate the attitude disturbing moment generated by the space tether through the reaction wheel. The simulation results show that the coordinated control method can significantly reduce the fuel consumption of the thrusters on the end-effector, effectively restrain the attitude interference caused by the coordinated control force of the space tether, and maintain the relatively stable posture of the end effector.