Instruction design method for changing configuration of assembly based on input shaping

Abstract

The invention discloses an instruction design method for changing configuration of an assembly based on input shaping, used for solving a technical problem of poor suppression of flexible vibration in a conventional changing process of the present spacecraft assembly configuration. A technical scheme is to design an input shaping machine based on a closed loop system model of the changing configuration assembly, and to modulate a cabin section inversion instruction for enabling the flexible vibration to be suppressed effectively when the assembly performs configuration change according to the modulated instruction, thereby improving the performance of finishing tasks such as on-orbit assembly of a large and complex spacecraft. The input shaping modulation is added into an original instruction, and thus when the assembly performs inversion according to the modulated instruction, vibration amplitude of flexible accessories is reduced by more than 20% compared with that of the flexible accessories during the inversion of the assembly according to the original instruction, and simultaneously, the stability of the posture of a core cabin in the inversion process is improved.

Description

technical field [0001] The invention relates to a method for designing a combination variable configuration instruction, in particular to a method for designing a combination variable configuration instruction based on input molding. It belongs to the field of attitude control of large flexible and complex spacecraft. It is suitable for the design of indexing commands when the configuration of a space station and other assemblies containing multiple cabins is changed, and it is also suitable for the design of commands when the upper parts of the spacecraft are indexed. Background technique [0002] During the assembly process of the space station, it may be required to transfer the experimental module from one docking port of the core module to another docking port, and a possible combination configuration change is from "one" shape to "L" shape. The experimental cabin to be transferred is generally in a stop control state when the cabin section is transferred, and the attit...

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Problems solved by technology

[0006] In Document 1, the method of changing the configuration motion through the attitude change of the core cabin can not keep the three-axis stability of the core cabin relative to the ground, and the rotation of the core cabin will arouse the severe vibration of the sailboard on the core cabin

In addition, Document 1 studies the configuration-changing motion of the assembly from the perspective of avoiding the saturation of the moment gyroscope, and does not actively control the flexible vibration during the configuration-changing process.

[0007] Document 2 studies the effect of the transposition movement on the three-axis attitude of the rigid body of the spacecraft, and does not further discuss the influence of the transposition movement on the flexible attachments on the spacecraft, nor does it give any information on the flexibility caused by the transposition movement. Active Suppression Methods of Vibration

[0008] Document 3 presents an active suppression method of flexural vibration applied to large-angle attitude maneuvers of spacecraft, but does not study the application of this method in the variable configuration of the assembly

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