Space tether capturing system keeping stage tether in-plane and out-plane angle stable control method

Abstract

The invention relates to a space tether capturing system keeping stage tether in-plane and out-plane angle stable control method. Firstly, a space tether capturing system keeping stage kinetic model is built; according to a sliding mode variable equation, a space tether capturing system keeping stage kinetic equation is sorted; a space tether capturing system keeping stage Super-Twisting control law is designed; and the magnitude of the space tether capturing system keeping stage tether in-plane and out-plane angle stable control torque is calculated. The method of the invention has the beneficial effects that the designed control law can quickly eliminate swing of in-plane and out-plane angles in an interference condition, and the tether in-plane and out-plane angles can be controlled to be expected values; and in comparison with the traditional sliding mode method, the designed control law can realize continuous control input and eliminate chattering.

Description

technical field [0001] The invention belongs to the research field of spacecraft control technology, and relates to a method for stabilizing the inner and outer angles of the tether surface during the holding phase of a space tether capture system. Background technique [0002] The problem of space security has become increasingly serious. In order to maintain space security, researchers have proposed the use of space tether capture systems to clean up space garbage. The space tether capture system is usually a structure of "space platform + connecting tether + end effector". According to the different end effectors, the space tether capture system includes space robot, space tether flying spear and space tether flying net. Due to the existence of the tether, the space tether capture system has a wide operating range and a large capture envelope. Compared with the space rigid body capture system, the control accuracy is lower and the capture success rate is higher. Therefo...

AI Technical Summary

Problems solved by technology

However, when the tether is released to the desired length, the in-plane and out-of-plane corners of the tether are often still swinging, which will cause the tether to be entangled with the end effector, and cause problems with the target in the next mission phase (capture). The rendezvous of the spacecraft will have a large impact, leading to the failure of the mission

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