带空间机械臂的充液航天器姿态动力学研究

STUDY ON ATTITUDE DYNAMICS OF A LIQUID FILLED SPACECRAFT WITH MANIPULATORS

本文研究空间机械臂运动对充液航天器姿态的影响，讨论了利用机械臂调整充液航天器姿态问题、以及机械臂操作与航天器姿态稳定的协调问题。研究表明：影响充液航天器姿态的因素除了机械臂运动的路径，还有机械臂运动的时间、机械臂转角的变化规律、液体的粘性、质量和惯性张量等。其中机械臂运动时间的影响比较明显，而且机械臂运动得越慢对航天器姿态的影响越大。合理地选择机械臂操作时间和机械臂转角变化规律，可以实现机械臂操作与航天器姿态稳定的协调。利用机械臂调整多刚体航天器姿态的算法，在必要的修正后可以用于充液航天器调姿。

In this paper the influence of motion of manipulators on attitude dynamics of a liquid filled spacecraft is studied.The vehicle's attitude regulation and coordination of manipulator's motion with vehicle's attitude stability are discussed.Variations on which attitude of spacecraft dependents are time,law of motion of manipulators,liquid mass,liquid inertial tensor and damping coefficient besides paths of motion of manipulators.The control time of manipulators significantly influences on the attitude.When manipulators move slowly,its influence on attitude is more significant.Coordination of motion of manipulators with attitude stability can be realized by the right choice of control time and control law of manipulators.Revised algorithms of attitude regulation of rigid spacecraft using manipulator moving can be used for liquid filled spacecraft.