【作者】 练达芃； 金磊；

【Author】 LIAN Dapeng;JIN Lei;School of Astronautics,Beihang University;

【机构】 北京航空航天大学宇航学院；

【摘要】 空间环境中存在着大量空间碎片,给航天器带来了巨大的安全隐患,执行空间碎片主动清除任务的在轨服务航天器,利用机械臂抓捕空间碎片后,形成新的组合体,为了对组合体进行高精度控制,需对空间碎片进行在轨质量特性参数辨识。本文研究了在机械臂激励下,基于系统动力学模型的空间碎片质量特性参数辨识问题,首先,建立了抓捕空间碎片后的闭链系统动力学模型,然后根据中心平台转动方程,分离待辨识参数得到辨识模型,最后利用加权最小二乘递推算法,在引力梯度力矩的干扰下,辨识得到了空间碎片的质量特性参数。本文提出的基于系统动力学模型的辨识方法能够解决复杂闭链系统中未知参数的辨识问题,不要求系统所受外力矩为零,并且能同时应用于机械臂激励和推力器激励的情况。更多还原

【Abstract】 There are a large number of space debris in the space environment, which brings a huge security risk to spacecraft. The on-orbit servicing spacecraft is designed for the mission of removing space debris. It uses the manipulators to capture space debris, thus forming a new combined body. In order to control the combined body with high precision, it is necessary to identify the mass characteristic parameters of space debris on orbit. The identification of mass characteristic parameters of space debris under the actuation of manipulators is studied based on the system dynamics model. Firstly, the closed chain system dynamics model after capturing space debris is established. Then, according to the rotation equation of the central platform, the identification model is obtained by separating the parameters to be identified. Finally, the mass characteristic parameters of space debris are identified using the weighted least square recursive algorithm under the interference of gravitational gradient torque. The identification method based on system dynamics model can solve the identification problem of unknown parameters in complex closed-chain system, which does not require the external torque of the system to be zero, and can be applied to the case of manipulator stimulation and thruster stimulation.更多还原