空间绳系机器人释放动力学与控制仿真研究

Simulation of Release Dynamics and Control Method of Space-Tethered-Robot

空间绳系机器人作为一种新型空间飞行器,为近距离目标捕获提供了一种全新的捕获方式。作为关键技术之一的空间绳系机器人释放动力学与控制目前尚未引起广泛关注。通过建立空间绳系机器人释放动力学模型,研究了绳系机器人稳定释放的控制技术。对非线性释放动力学模型全局反馈线性化,设计了绳系机器人释放的主动学习控制器,控制器根据规则在线学习自整定控制器参数,使绳系机器人沿切向稳定快速释放,解决了绳系机器人沿切向释放不稳定的问题。机器人作为一个独立的控制系统,可完成沿任意方向的释放。数字仿真验证了机器人能够满足释放过程中对主动控制律的要求,说明稳定释放控制策略的有效性。

Space-Tethered-Robot（STR） is a new space aerocraft,which provides a new way for close range target capture.As one of the key technologies of STR,the release dynamics and control has not aroused much attention in literature.The release dynamics and control method of STR were studied.The nonlinear dynamic characteristics of STR were analyzed.Active study controller was designed using the global feedback linearization technology.The parameters of the controller were regulated dynamically by learning online.The releasing strategy solved the problem of instability when the robot was released towards the horizontal direction.The robot was treated as an independent control system after it was released from the platform,which could make the robot be released towards any directions.Finally,the effectiveness of this method was verified by numerical simulation results.