Research On The Pendulum Dynamic Model And Anti-Swing Control Of Space Tethered Combination Robot

Collision,pendulum,rolling and the composite motion may happen during the capture or towing process of the space tethered combination,which need to be restranined.The pendulum motion can be easily motivated and will interfere with the measurement,communication and control of the satellite.Therefore designing the anti-swing control strategy for tethered combination is significant.For adjustment of the active satellite is needed during orbit transfer in microgravity or vacuum environment,the control scheme based on the satellite motion can be considered.This paper researched on the corresponding anti-swing control design for a simplified post-capture tethered combination in vacuum environment and verified the control scheme on the constructed experimental platform.Related works and conclusions are as follows:(1)Briefly described the current research of the post-capture control strategy for space-tethered combination and the pendulum motion characters.Cleared the demand for the paper.(2)Built the nonlinear dynamic pendulum model of the tethered combination(space-tethered robot)in vacuum environment under the control of external force.Designed the in-plane anti-swing controller based on jet thrust and the spherical pendulum anti-swing controller based on towing point movement for the short tether combination with short swing period.The approximate linearization control and VSC control were also simulated but was inferior to the designed non-linear feedback controller in the aspect of initial angle range and control performance.(3)Established the anti-swing experiment platform.The spherical pendulum anti-swing controller performed with the servo control system.Tethered combination towed by the external force at the number of gravity size was similar to the ground gravity field enviroment.The experiment result showed that the in-plane and out-of-plane angle were restrained.