The invention discloses an under-actuated tethered assembly racemization control method based on a layered sliding mode. The under-actuated tethered assembly racemization control method is suitable for pose control of an assembly system formed after a flexible rope net captures space debris. In consideration of uncertainty of kinetic parameters of space debris, errors existing in measurement of an initial attitude of a target and existence of external disturbance force, the invention supplements and perfects a kinetic model of an assembly, and provides an assembly attitude control method based on a layered sliding mode. According to the method, the whole under-actuated tethered combination system is stabilized through torque applied to an actively-controlled service satellite, and meanwhile, in order to accelerate the stabilization efficiency of the system, radial propulsive force is applied to restrain swing of the service satellite in the radial direction. According to the control method provided by the invention, control input parameters are simplified, and space debris can be despun through the tether only through attitude adjustment of the service satellite. Compared with a traditional proportional differential controller, the control performance and robustness of the control method are better.

    本发明公开了一种基于分层滑模的欠驱动绳系组合体消旋控制方法,适用于柔性绳网捕获空间碎片后形成的组合体系统的位姿控制。考虑空间碎片的动力学参数不确定、目标初始姿态的测量存在误差以及外界干扰力的存在,本发明补充完善了组合体的动力学模型,提出了一种基于分层滑模的组合体姿态控制方法。该方法通过施加在主动控制的服务卫星上的扭矩来稳定整个欠驱动绳系组合体系统,同时为了加快系统的稳定效率,施加径向推进力抑制服务卫星径向方向的摆动。本发明提出的控制方法简化了控制输入参数,仅通过服务卫星的姿态调整便可通过系绳对空间碎片进行消旋。与传统的比例微分控制器相比,本发明中控制方法的控制性能和鲁棒性更优。


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    Title :

    Under-actuated tethered combination racemization control method based on layered sliding mode


    Additional title:

    一种基于分层滑模的欠驱动绳系组合体消旋控制方法


    Contributors:
    SHAN MINGHE (author) / CHENG YAJIE (author) / SHI LINGLING (author) / TIAN QIANG (author) / YAN XINLE (author)

    Publication date :

    2023-09-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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