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研究在轨服务航天器自主逼近与捕获目标航天器过程中的相对位置和姿态耦合动力学与控制问题。考虑控制输入耦合,建立服务航天器对目标航天器的相对位置和姿态一体化耦合动力学模型。基于此耦合动力学模型,考虑相对位置跟踪中的控制指令耦合和控制输出受限,利用反馈线性化理论,设计相对位置和姿态一体化耦合控制算法。并利用李雅普洛夫理论证明存在有界干扰时控制系统的稳定性。数学仿真的结果表明,相对位置和姿态一体化耦合控制算法是有效的,具有较好的跟踪性能和一定的抗干扰能力。
Research on the relative position and attitude coupling dynamics and control problems in on-orbit service spacecraft approach and capture the target spacecraft autonomously. Considering the control input coupling, an integrated coupled dynamics model is established for the relative position and attitude of the spacecraft serving the spacecraft. Based on this coupling dynamics model, considering the control command coupling and control output in relative position tracking are limited, the feedback linearization theory is used to design the integrated control algorithm of relative position and attitude. The Lyapunov theory is used to prove the stability of the control system in the presence of bounded disturbances. The results of the mathematical simulation show that the relative position and attitude integrated coupling control algorithm is effective, has better tracking performance and certain anti-interference ability.