Dynamics And Control On Capturing A Spinning Target In Space

With the ever-increasing level of science and technology,and the increasing abundance of scientific theories,the rapid development of the human space undertaking has led to more and more explorations of space,and the utilization of space resources has also been increasing.Ensuring the stable operation of spacecraft on the track is critical.The use of space robots for on-orbit service is essential.In this paper,combining with a project in the aerospace field,taking the space spin target capture task as the research background,the system modeling and simulation of the space robot,the design modeling and simulation of the arrest mechanism,and the collision dynamics simulation during the capture process are carried out.Analyze and mitigate the impact of collision forces on the configuration of manipulators and the state of the space robot system,study the pre-catch arrest mechanism and the stable control of target elimination after capture.This is a study of the related technology of space robots in China.Provide theoretical support.Research on space robot system modeling.First,the general system composition of a one-armed space robot is introduced.Secondly,the kinematics equations of the space robot system are deduced,and on this basis,the dynamic model of the space robot system is deduced based on the Lagrange equation.Finally,the motion characteristics of the space robot are analyzed through simulation.Research on the system modeling of arresting institutions.With the design of the four-finger underactuated manipulator,the tendon-pulley working mode is used as the transmission mechanism of the system.First,the system composition and working principle of underactuated robotic fingers are introduced.Secondly,the kinematic equations and dynamic equations of the underactuated fingers are deduced,and the motion characteristics of the single finger are analyzed through simulation.The collision in the process of spatial spin target capture is studied.First,give a dynamic model of the arrested object.Secondly,the collision detection algorithm is designed according to the movement law of the arresting mechanism and the characteristics of the arrested object designed above,and the collision force is described by the Hertz contact force model.Finally,the impact of the collision on the system is analyzed through simulation,and it is proposed to apply damping control to the robot arm to ensure that the robot arm achieves a stable state of rapid balance.Study the control scheme during the capture process.Based on the non-singular terminal sliding mode control,the working principle is first introduced.The controller is designed according to the dynamic model of the space robot system,and the stability of the control system is proved.Secondly,the influence of the controller parameters selection on the control system is simulated and compared with the classic PD control.Finally,an application example of the controller after the capture of the complex control is given.