灵活的底座联合链接空间操纵系统的运动振动混合控制,使用屏障莱普诺夫函数捕获目标航天器
1School of Aerospace Engineering, Tsinghua University, ZhiShan Road, Haidian, Beijing 100084, China.
ISA transactions
|November 14, 2025
概括
这项研究探讨了航天器捕获动态,开发了一个混合控制器来管理接触碰撞期间的振动. 控制器确保稳定的捕获,尽管基础,关节和链路的干扰.
科学领域:
- 航天器动力学和控制系统工程.
- 机器人和自主系统.
- 航空航天应用中的振动分析.
背景情况:
- 航天器捕获任务需要精确的控制来管理复杂的动态.
- 灵活操纵器中的振动可以破坏捕获操作的稳定性.
- 现有的控制方法可能无法充分应对混合动力振动挑战.
研究的目的:
- 分析目标航天器捕获期间空间操纵系统的接触碰撞动态.
- 开发和验证一种用于灵活空间操纵器的新型混合动力振动控制器.
- 研究多点振动对捕获成功的影响.
主要方法:
- 灵活的基础联合链接操纵器和目标航天器的动态模型的衍生.
- 为联合航天器系统建立一个动态模型.
- 单一扰动理论用于子系统分解的应用.
- 建议使用自适应神经网络,屏障Lyapunov函数和最佳控制的运动振动混合控制器.
主要成果:
- 为合航天器系统建立了一个全面的动态模型.
- 拟议的混合控制器有效地管理捕获期间的运动和振动.
- 控制器证明了对扭矩限制和适应性参数更新的遵守.
- 数字模拟验证了控制器在复杂场景中的性能.
结论:
- 开发的混合控制器为在振动干扰下捕获航天器提供了强大的解决方案.
- 对接触碰撞动态的准确建模对于成功的自主捕获至关重要.
- 适应性控制策略增强了系统稳定性和太空操作中的适应性.
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