在轨服务的超近距离姿轨联合控制研究

Research on Coupled Control of Relative Attitude and Orbit for Final Approach Phase of On-Orbit Servicing

对面向在轨服务的超近距离姿态轨道联合控制设计进行了研究。建立基于相对四元数的相对姿态运动动力学模型和基于相对运动轨迹设计的相对轨道动力学模型,考虑模型中姿态与轨道耦合,设计四元数反馈非线性控制律和具姿态反馈信息的最优实时闭环反馈控制律。数学仿真和半物理仿真试验结果验证了算法的有效性和可行性。

The coupled relative attitude and orbit control for the final approach phase of on-orbit servicing was studied in this paper. The attitude dynamic model based on relative quaternion and orbit dynamic model based on trajectory design for proximity relative motion were established. Attitude control law based on quaternion feedback and optimal real-time state feedback control law were designed while the coupling of attitude and orbit was under consideration. The results of the numerical simulation and semi-physical simulation test verified the validity and feasibility of the proposed method.