Identification Of Mass Characteristic Parameters And Control Of Spacecraft Using Robotic Arm

With the development of the technology of autonomous on-orbit service, on-orbit service spacecraft has become an extremely important branch of the types of spacecraft. Due to the particularity of task service, the mass characteristic parameters of on-orbit service spacecraft are not stable in a certain range, which affects the in-orbit spacecraft attitude and orbit control and the completion of tasks of the original precision and quality. In this paper, using an on-orbit service spacecraft as the background, the robotic arm for incentives, establish the identification model of a spacecraft ontology’s mass characteristic parameters, realized the online identification of mass characteristic parameters, and based on pole assignment controller, realized the high accuracy of spacecraft attitude control.First of all, relative coordinate system was established, mainly including orbit coordinate frame and the spacecraft body reference frame. Based on the movement of robotic arm, the identification model of a spacecraft ontology’s mass characteristic parameters was established. In order to solve the problem, the solving method of robotic arm’s mass characteristic parameters is given. In order to prove the feasibility of identification model, the identifiability and discernibility degree of identification model is given. In the ADAMS software, a system dynamics model is established. Combined with numerical simulation, the identifiability and discernibility degree of the model is verified, and the identification results of spacecraft ontology’s mass characteristic parameters are given.Results for accuracy is not high, through the introduction of differential evolution algorithm, combined with the given earlier identification model, when using differential evolution algorithm is designed quality identification evaluation function. And combined with numerical simulation analysis of the main control parameters of the algorithm on the efficiency of the algorithm, select a group conform to the scene of control parameters in this paper. Based on differential evolution algorithm to identify the quality after the characteristic parameters.Considering the spacecraft is to identify the main purpose is to position control of spacecraft, designed the spacecraft based on recursive least squares algorithm quality characteristic parameter online identification of the model, and on this basis, a sliding mode controller, through numerical simulation, in the form of online identification results are obtained as well as the high precision attitude control.