Research On Non-cooperative Target Detumbling By Gas Plume Impingement Based On Space Robot

Space non-coorperative targets is different from the coorperative targets in on-orbit capture,with the characteristic of non-coorperative,have no special capture interface and information for capture.Space non-coorperative targets always have complex rotation state because of the perturbation force,for example,solar radiation,gravity gradient and angular momentum remained.The rotation state will cause great threat for the capture spacecraft and difficulties for the capture mission.Therefore,an effective detumbling operation should be carry on before capturing.With the development of space technology and the improvement of on-orbit service task requirements,space robot technologys also have a great progress and advangtages.It plays an important role in on-orbit rendezvous and docking,on-orbit capturing,fuel supply,replace components and equipments upgrade,is a research hotspots for all aerospace powers.Gas plume detumbling is an effective method that detumb the space non-coorperative targets.It produce force and moment on the specified surface of space non-coorperative targets.Compared with other method,the gas plume detumbling is non-contact and more effective,the device is also simple.Using space robots in the gas plume detumbling task will have a more accuracy and effective detubmling effect.It is of great significance for the detumbling of space non-coorperative targets.Focused on the task of space non-coorperative targets detumbling based on the space robots,this dissertation carried out the work of:(1)Investigation and research are carried out about the research progress of debumling home an abroad.Summarized all kinds of detumbling methods' principles and effects.(2)Established the kinematics and dynamics model using the concept of augmented body.Analysed the kinematics characteristics in the redundant state.(3)Founded the simplified model of non-coorperative targets and analysed the motion state in the space invironment.Established the pressure and forece model of the plume and provided a reasonable detumbling strategy.(4)Focused on the fact that the inertia parameters of system will change because of the quality consumption,realized the stability of the space robot base with the disturbution outside by using self-adaption inertia update algorithm.In summary,focused on the gas plume detumbling method based on space robot,this paper has surveyed the examples home and abroad,established the kinematics and dynamics model of space robot,provided a detumbling strategy and self-adaptive base stabiliz method.All of these works will have an essential meaning for the research of space non-coorperative targets detumbling based on the space robots.