基于刚体卫星绳系编队系统的动力学建模及姿态控制
赵俊淇, 陈卫东, 余本嵩
摘要：多体绳系卫星编队系统具有观测范围广、可操作性强、稳定性强等优点，可实现深空探究、大气探测、空间碎片清理等空间作业。三体绳系卫星编队系统是三颗卫星首尾一次通过系绳相连接，形成三角形形状的编队系统，可通过自旋保持空间相对位置稳定。现有的对于三体绳系编队系统的理论研究中，大都将卫星视为质点，简化动力学模型，但与实际情况出入较大。为更符合实际情况，考虑卫星的刚体姿态的影响，采用Newton-Euler法进行三体绳系编队系统的耦合动力学模型的建立。以四元数法为基础，避免出现使方程不可求解的奇异值，忽略空间环境影响及系绳质量，建立考虑系绳张力影响下的动力学模型。基于已有的动力学模型，通过改变系绳连接处位置，进行不同初始条件下动力学仿真分析，得到其动力学响应。当系统内系绳连接处位置不过卫星刚体质心时，系绳拉力产生的扭矩会造成卫星姿态的不稳定，会对系统正常工作造成影响。因此通过主动控制方法，例如变结构控制方法以及基于单神经元的自适应PID控制方法等方法对卫星姿态进行控制，通过仿真验证了控制律的有效性。
【关键词】 绳系卫星； 刚体； 动力学响应； 姿态控制
Dynamic Modeling and Atittude Control of Tether Satellite formation System with a rigid Body
Junqi Zhao, Weidong Chen, Bensong Yu
Abstract: The multi-body tethered satellite formation system has the advantages of wide observation range,strong maneuverability and stability due to tethers. It is employed to realize deep space exploration,atmospheric exploration,space debris cleaning and other space operations. Three-body tethered satellite formation system is a triangle-shaped formation system in which three satellites are connected head to tail at one time through tethered cables,which can maintain the relative position stability in space through rotation. In the existing theoretical research on the three-body rope formation system,most of them regard the satellite as a particle to simplify the dynamic model,which is,however,quite different from the actual situation. In order to conform to the actual situation and consider the influence of satellite rigid body attitude,the Newton-Euler method is adopted to establish the coupling dynamic model of three-body tether formation system. Based on the quaternion method,the singular value which makes the equation unsolvable is avoided,the influence of space environment and tethered quality are ignored,and the dynamic model which considers the influence of tethered tension is established. By employing the existing dynamic model,and also changing the position of the tether connection,the dynamic simulation analysis was carried out with different initial conditions,and the dynamic response was then obtained. When the position of the tether connection of the system is not located at the center of mass of the satellite rigid body,the torque generated by the tether tension will cause instability of the satellite attitude,thus adversely affecting the routine operation of the system. Therefore,the satellite attitude is controlled by active control methods,such as variable structure control method and single-neuron adaptive PID control method,with the effectiveness of the control law being verified by simulation.
Keywords: tethered satellites;rigid body;dynamic response;attitude control
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