The invention discloses a small celestial body surface bounce moving attitude maneuver control method, and belongs to the field of deep space exploration. The implementation method comprises the following steps: aiming at the attitude maneuver problem of bouncing movement of the detector, respectively establishing kinetic equations of the detector after jumping under a small celestial body fixed connection coordinate system and a small celestial body surface coordinate system; after a detector jumps, due to uncertainty of rotational inertia and external interference, the posture change of the detector enables the next bounce process after collision to be unpredictable, and a detector bounce movement error posture dynamic model containing the uncertainty of the rotational inertia of the detector and the total interference of external environment disturbance is established; a sliding mode surface including finite time control is designed, and the convergence efficiency of the state of a detector system and the attitude maneuver control precision are improved. A self-adaptive mechanism is introduced on the basis of a finite time sliding mode surface, the robustness of a detector system is enhanced, and then it is guaranteed that the detector can maneuver to a target collision posture at a high speed and good precision.
本发明公开的小天体表面弹跳移动姿态机动控制方法,属于深空探测领域。本发明实现方法为:针对探测器弹跳移动的姿态机动问题,分别建立探测器在小天体固连坐标系和小天体表面坐标系下起跳后的动力学方程。探测器在起跳后因转动惯量的不确定和外界干扰,其姿态的变化会使碰撞后的下一次弹跳过程变得无法预测,通过建立包含自身转动惯量不确定性和外界环境扰动的总干扰的探测器弹跳移动误差姿态动力学模型,设计包含有限时间控制的滑模面,提高探测器系统状态的收敛效率以及姿态机动控制精度。在有限时间滑模面的基础上引入自适应机制,增强探测器系统的鲁棒性,进而保证探测器能够以较快的速度和较好的精度机动到目标碰撞姿态。
Small celestial body surface bounce moving attitude maneuver control method
小天体表面弹跳移动姿态机动控制方法
23.06.2023
Patent
Elektronische Ressource
Chinesisch
Small celestial body surface elastic power type jumping robot and moving method thereof
Europäisches Patentamt | 2021
|Fast satellite attitude maneuver and control
TIBKAT | 2022
|Mariner 4 maneuver and attitude control
NTRS | 1969
|Mariner 4 maneuver and attitude control.
NTRS | 1965
|