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分析漂浮基柔性空间机械臂捕获运动卫星过程的碰撞动力学,及受碰撞冲击后的不稳定空间机械臂系统的控制.首先,利用假设模态法近似描述柔性杆的弹性变形,并结合第二类拉格朗日方程建立柔性空间机械臂多体系统动力学模型.而后,基于动量守恒原理,利用动量冲量法分析空间机械臂捕获卫星的碰撞动力学.针对受碰撞冲击后不稳定运动空间机械臂,设计鲁棒镇定与自适应抑振复合控制以维持空间机械臂与被捕获卫星组合体系统稳定.最后,数值仿真揭示了碰撞冲击影响效应,并验证了上述控制算法的有效性.
This paper analyzes the collision dynamics of the floating space flexible space manipulator to capture the moving satellites and the control of the unstable space manipulator system under the impact of the impact.First, the elastic deformation of the flexible rod is approximated by the hypothetical modal method, Based on Lagrangian equations, a multi-body dynamics model of a flexible space manipulator is established. Then, based on the principle of conservation of momentum, momentum impulse method is used to analyze the collision dynamics of the spacecraft to capture satellites. Arm, the robust stabilization and the adaptive vibration suppression compound control are designed to maintain the stability of the space manipulator and the captured satellite system.Finally, the numerical simulation reveals the impact effect of the impact and verifies the effectiveness of the above control algorithm.