| 辐射开环空间绳系机器人编队自旋转速最优控制 |
| |
| 引用本文： | 黄攀峰,张帆,刘彬彬,马骏.辐射开环空间绳系机器人编队自旋转速最优控制[J].系统工程与电子技术,2015,37(6):1362-1369. |
| |
| 作者姓名： | 黄攀峰 张帆 刘彬彬 马骏 |
| |
| 作者单位： | 1. 西北工业大学航天学院智能机器人研究中心, 陕西 西安 710072;
2. 西北工业大学航天飞行动力学技术重点实验室, 陕西 西安710072 |
| |
| 摘 要： | 辐射开环空间绳系机器人(tethered space robot, TSR)编队是一种新型的空间绳系编队系统,其在构型稳定性、任务灵活性以及燃料消耗方面具有明显的优势。研究了辐射开环TSR编队自旋转速最优控制问题。首先建立了辐射开环TSR编队的自旋动力学模型;然后对编队自旋转速控制问题以及hp-自适应伪谱法求解最优控制问题的基本原理进行了描述,并设计了基于hp-自适应伪谱法的编队自旋转速闭环最优控制系统;最后通过仿真算例对设计的闭环最优控制系统进行验证和分析。
|
Optimal control of the rotating velocity of hub-spoke tethered space robot formation |
| |
| HUANG Pan-feng,ZHANG Fan,LIU Bin-bin,MA Jun.Optimal control of the rotating velocity of hub-spoke tethered space robot formation[J].System Engineering and Electronics,2015,37(6):1362-1369. |
| |
| Authors: | HUANG Pan-feng ZHANG Fan LIU Bin-bin MA Jun |
| |
| Institution: | 1. Research Center of Intelligent Robotics, School of Astronautics, Northwestern Polytechnical;
University, Xi’an 710072, China; 2. National Key Laboratory of Aerospace Flight;
Dynamics, Northwestern Polytechnical University, Xi’an 710072, China |
| |
| Abstract: | The hub-spoke tethered space robot (TSR) formation is a novel formation system. The stability, flexibility and fuel consumption of the hub-spoke TSR formation system have been significantly improved. The optimal control problem of the rotating velocity of the hub-spoke TSR formation system is proposed and studied. Firstly, an analytical model is used to describe the rotating hub-spoke TSR formation system. Secondly, the optimal control problem of the rotating velocity and the theory of the hp-adaptive pseudospectral method are described. Thirdly, a closed-loop optimal control system based on the hp-adaptive pseudospectral method is established. Finally, some digital imitations are implemented to validate the proposed closed-loop optimal control system. |
| |
| Keywords: | |
|
| 点击此处可从《系统工程与电子技术》浏览原始摘要信息 |
| 点击此处可从《系统工程与电子技术》下载免费的PDF全文 |
|
