航天器相对运动姿轨耦合动力学建模方法

Dynamic modeling methods of attitude and orbital coupling for spacecraft relative motion

以空间近距离操作为背景,着重介绍了近年来相对运动姿轨耦合动力学建模方法的研究现状与成果。分别从相对运动动力学的传统建模方法、基于向量代数的姿轨耦合建模方法和基于螺旋理论的姿轨耦合建模方法进行阐述,讨论了各种方法的特点与适用性。研究显示:传统方法将轨道和姿态分开处理,简化了建模过程,但不利于姿轨耦合分析和协同控制设计,应用存在很大的限制性;基于向量代数的建模方法可以得到姿轨耦合模型,但姿轨模型形式不同,增加了协同控制设计的难度,且多种代数系统的使用也增加了问题处理的复杂性;基于螺旋理论的建模方法得到的姿轨动力学模型具有统一形式,耦合项表达式明确,模型参数具有非奇异性,有利于耦合机理分析,便于姿轨协同控制设计,在需要姿轨协同精确控制的近距离复杂操作中具有良好的应用潜力。

This paper summarizes the researches and achievements of dynamic modeling of attitude and orbital coupling for spacecraft relative motion under approaching operation conditions. We classify the modeling methods into three categories： the classical method,the method based on vector-algebra,and the method based on screw theory. Then,the characteristics and applicability of each category are analyzed.The classical method decouples the orbit and attitude variables,which simplifies the modeling but limits the coupling analysis and cooperative controller design. The method based on vector-algebra can obtain the coupling models,however,the forms of orbit model and attitude model are different,which not only make the cooperative controller design more difficult,but also increase the complexity of the system.Based on screw theory,the unity orbit and attitude dynamic model can be obtained with clear coupling and non-singular descriptions,which is benefit to coupling analysis and cooperative controller design. For close-distance complex operations and precise cooperative control between relative orbit and attitude motions,the method based on screw theory has a good application potential.