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通过系绳与机构间串联的可控刚性臂作为偏置控制器,对由轨道偏心率引起的系统面内运动发散动力学问题进行分析,研究了空间绳系机构系统的位置与姿态最优控制问题.利用Gauss伪谱法,将绳系机构位置与姿态最优控制离散为大规模动态规划问题,借助非线性规划方法求解,并引入状态反馈补偿来抑制系统的初始扰动.数值结果表明,偏置机构的引入提高了系统面内运动发散的轨道偏心率,机构的位置与姿态控制可相互解耦,以系绳张力、刚性臂转动加速度和绳系机构上的动量轮作为控制输入,降低了动量轮的控制力矩,状态反馈跟踪补偿控制器有效消除了系统的扰动影响.
Through the controllable rigid arm connected in series between the tether and the mechanism as the bias controller, the in-plane motional divergence dynamics problem caused by the eccentricity of the orbit is analyzed and the optimal position and attitude control of the space tether mechanism is studied Problem.Using Gauss pseudospectral method to discretize the optimal control of the position and attitude of the rope mechanism as a large-scale dynamic programming problem, solving the problem by nonlinear programming and introducing state feedback compensation to suppress the initial disturbance of the system.The numerical results show that the partial The introduction of the mechanism increases the orbital eccentricity of the divergent in-plane motion of the system, and the position and attitude control of the mechanism can be decoupled from each other. As the control input, the tension of the tether, the rotational acceleration of the rigid arm and the momentum wheel on the rope mechanism are reduced, Momentum wheel control torque, state feedback tracking compensation controller effectively eliminate the system disturbance.