一种用于空间翻滚目标接近控制的相对运动建模方法

A Modeling Method for Proximity Control to a Tumbling Target

针对空间翻滚目标等一类相对运动复杂的接近控制问题,首先重点研究了基于微分几何理论的相对运动建模,建立视线旋转坐标系下的三维相对运动方程;然后将三维相对运动解耦为视线瞬时旋转平面内的相对运动和该平面的转动,建立了统一的控制器设计框架,形式统一简洁、物理意义明确,消除传统制导与控制策略中俯仰、偏航通道的耦合因素影响;最后通过六自由度仿真算例证明,相对运动模型物理意义明晰、鲁棒性强、控制精度高、工程实现容易。

Focusing on proximity to tumbling target,this paper tries to improve the precision of relative motion model through differential geometric theory.A set of relative motion equations are built in rotating coordinates which solves the coupling between pitch and yaw.A unified frame is established for controller design.Finally a six-degree-of-freedom simulation example is conducted to demonstrate the effectiveness of the relative motion model,which shows robustness,high precision and engineering feasibility.