Integrated Orbit And Attitude Planning And Control Of On-orbit-servicing Spacecraf

The control subsystem is an important part of the spacecraft.The performance of the control strategy directly determines the performance of the spacecraft.The study of on orbit service spacecraft's position and attitude control basically guarantee the accomplishment of the on orbit mission to the target spacecraft.The design of control strategy for on orbit service spacecraft in different stages during the capture process can realize the high performance control of the on orbit service spacecraft,space manipulator and assembly,and then achieve the service mission.In this paper,we make a profound study of the position and attitude integrated control of service spacecraft.Furthermore,we emphasically solve the problem of integration modeling,planning and control during the process of spacecraft and manapulator approaching and catching the target,and the problem of identification of target's parameters after arrest.Work as follows:During the approaching of the target,a position and attitude integrated path planning method based on the dual quaternion position and attitude integrated model and the improved genetic algorithm is proposed to solve the prob lem of path planning for service spacecraft to approaching the target.Furthermore,we considered the path length,safe area,energy and other constraints during the planning process,and then we achieve a safe and low-energy path close to the best.It provide front-end input for the service spacecraft' position and attitude integrated control.Aiming at the problem of space manipulator path planning in the process of capturing the target,this paper proposes a method of manipulator joint's position and attitude integrated planning based on the dual quaternion model and the Newton-Gaussian iterative algorithm.Divide the joint path planning into joint moving target and joint moving path two optimization problems and then solve them.It achieve selecting of smooth trapping path with less computation and provide front-end input for the integrated tracking control of space manipulator.During the process of capturing the target,we proposed a position and attitude integrated control method based on the dual quaternion model and the class PD robust adaptive control algorithm,then realize the relative position and attitude to capture the target immediately after arrving arrest position.It avoids the frequent alternating control of relative position and relative attitude.Aiming at the problem of space manipulator control in the process of capturing the target,we propose the integration tracking control method based on the dual quaternion model and the PD control strategy and then realize the tracking control of multi-joint manapulator under the planning path.It guarantee the capturing for the target spacecraft by the claws.After capturing the target,we proposed an inertial parameter identification method of Adaline neural network assembler based on NLMS criter ion.The method not only can realize the inertia identification of target,but also can identify the mass and centroid position of the target.It realize the cooperative transformation of non-cooperative target,and provide ontology parameters to the design of the combination controller.Finally,combined with the engineering application,this paper puts forward a semi-physical simulation verification system for the integrated control method of the service spacecraft capture process proposed in this paper.A semi-physical simulation verification test scheme was designed,including test system software,hardware structure,test outline and rules.The correctness and validity of the integrated control method proposed in this paper are further verified by appli cation examples.