CN110146224A - A method of identification assembly spacecraft mass, centroid position and inertial tensor - Google Patents
A method of identification assembly spacecraft mass, centroid position and inertial tensor Download PDFInfo
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- CN110146224A CN110146224A CN201910432774.4A CN201910432774A CN110146224A CN 110146224 A CN110146224 A CN 110146224A CN 201910432774 A CN201910432774 A CN 201910432774A CN 110146224 A CN110146224 A CN 110146224A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/12—Static balancing; Determining position of centre of gravity
- G01M1/122—Determining position of centre of gravity
- G01M1/125—Determining position of centre of gravity of aircraft
- G01M1/127—Determining position of centre of gravity of aircraft during the flight
Abstract
A method of identification assembly spacecraft mass, centroid position and inertial tensor belong to the identification of Model Parameters field of spacecraft.The present invention is unknown to can not control effectively in real time to assembly spacecraft in order to solve the problem of the quality, centroid position and the inertial tensor that capture the assembly spacecraft generated after target in in-orbit service task.The specific implementation steps are as follows: step 1: forming assembly after spacecraft capture target；Step 2: excitation is generated to entire assembly spacecraft by the spaceborne actuator in step 1, obtains the state change of assembly spacecraft, parameter identification database is then established according to excitation input and state output；Step 3: the suitable identification criterion of selection calculates parameter to be identified.The present invention only can pick out all mass propertys using one step of space manipulator.
Description
Technical field
The present invention relates to a kind of identification assembly spacecraft mass, the method for centroid position and inertial tensor, in particular to
It is a kind of using a space manipulator simultaneously as the discrimination method of arresting agency and driving source, belong to the model parameter of spacecraft
Identification field.
Background technique
In-orbit service is by in-orbit movable improvement such as integration detection, spacecrafts rendezvous and adjustment satellite position postures
The tasks such as the process of space-based capability, including remote sensing, orbit maneuver, satellite search and rescue, filling, upgrading, assembling and maintenance.Actually appointing
In business, in-orbit service spacecraft needs under conditions of meeting the constraint such as fuel, time, collision prevention, to one on known track
Operation, there may be the target of rolling, model and unknown parameters, carry out long-range detection, closely observation and tracking, capture and
The operations such as assembly flight, safe escape flight.
In capture and assembly mission phase, if the target of capture is close with in-orbit service spacecraft mass, size, the two
Compared to in-orbit service spacecraft mass characteristic huge change will occur for the assembly constituted, and target will certainly be to in-orbit service
The state of spacecraft generates the reaction that can not ignore, and brings very big difficulty for the control system of in-orbit service spacecraft, because
The mass property of this identification assembly spacecraft is the prerequisite of assembly Spacecraft Control problem.
Summary of the invention
The technical problem to be solved by the present invention is
Present invention aim to address quality, matter that the assembly spacecraft generated after target is captured in in-orbit service task
Heart position and inertial tensor are unknown, thus the problem of can not controling effectively in real time to assembly spacecraft.
The technical solution adopted by the present invention to solve the above technical problem is:
A method of identification assembly spacecraft mass, centroid position and inertial tensor, which comprises
Step 1: Servicing spacecraft by space manipulator capture target spacecraft latter three formed assembly, described group
Zoarium is assembly spacecraft, carries out angular momentum modeling respectively to three parts of assembly spacecraft, and then construct assembly
The angular momentum model of spacecraft, the angular momentum model is by the excitation in each joint of space manipulator, the angle of assembly spacecraft
Speed, the real-time measurement values of linear velocity and parameter to be identified determine；
Step 2: entire assembly spacecraft is generated by the space manipulator on the Servicing spacecraft in step 1 and is swashed
It encourages, the state output of assembly spacecraft: the real-time survey of angular speed, linear velocity is obtained by the sensing element on Servicing spacecraft
Magnitude then establishes parameter identification database according to excitation input and state output；
Step 3: the suitable identification criterion of selection calculates parameter to be identified: assembly spacecraft mass, centroid position and
Inertial tensor；
The model according to step 1 writes out the expression formula of the assembly spacecraft angular momentum model at any two moment, will
The two obtains a nonlinear equation as difference, keeps weighing apparatus principle according to momentum, which is equal to zero, by parameter identification data
The inputoutput data that the moment is corresponded in library substitutes into null nonlinear equation, at this time all unknown numbers in nonlinear equation
It is to calculate the mistake of parameter to be identified according to the process that optimization algorithm solves all unknown numbers of nonlinear equation for parameter to be identified
Journey.
Further, in step 1, the angular momentum model process for constructing assembly spacecraft is as follows:
Step (1): establishing target this system, and target this system origin, which is located at, arrests a little, three axis directions and final stage machine
Tool arm link coordinate system is parallel, and since mechanical arm and target are rigid connection, nothing is relative to sliding and rotation, and final stage is mechanical
Arm link coordinate system is related with mechanical arm posture, and the posture relative to Servicing spacecraft this system is known, therefore the mesh
Sample system is known, and unrelated with target information；
Step (2): the angular momentum model of assembly spacecraft of the building containing parameter to be identified；It is established by step (1)
Target this system property it is found that passive space vehicle relative to the inertial tensor of target this system is constant, passive space vehicle
Mass center relative to coordinate system of the position in space manipulator end joint of space manipulator end joint mass center be it is constant, by
It is constant in the quality of passive space vehicle, therefore first acquires quality, centroid position and the inertial tensor of passive space vehicle, in turn
Obtain assembly spacecraft mass, centroid position and inertial tensor；
Shown in the inertial tensor such as formula (1) for obtaining assembly spacecraft by assembly spacecraft each section inertial tensor:
IC=IS+IR+RITRT+mT(ρT TρTE3-ρTρT T) (1)
Wherein, ICInertial tensor for assembly in Servicing spacecraft body coordinate system, IRIt is mechanical arm in Servicing spacecraft body
The inertial tensor of coordinate system, ITInertial tensor for target relative to its own this system, R are final stage under Servicing spacecraft
Robot linkage relative inertness system attitude matrix, mSFor Servicing spacecraft quality, mRFor entire mechanical arm system quality, mTFor mesh
Mark spacecraft mass, ρTThe position vector for being target centroid in inertial system, E3For 3 rank unit matrixs；
Target centroid is to position vector r of target this system origin in objective body coordinate system and target centroid in inertial system
In position vector ρTRelationship is as follows:
R=RTS[RS(ρT-ρS)-r1] (2)
Wherein, RTSAttitude matrix for objective body coordinate system relative to Servicing spacecraft body coordinate system, RSTo service space flight
Attitude matrix of the body coordinate system relative to inertial system, r1To arrest a little to Servicing spacecraft mass center in Servicing spacecraft body coordinate
Vector in system, ρSFor position vector of the Servicing spacecraft mass center in inertial system system；
I in formula (1)T、mTIt is physical quantity to be identified, therefore the angular motion of assembly spacecraft with the r in formula (2)
It measures shown in model such as formula (3):
hc=hc(0)=ICω (3)
Wherein hcFor the linear momentum of certain moment combined system system, hcIt (0) is the angular momentum of assembly system initial time, ω
For angular speed of the assembly spacecraft in inertial system, ICAs shown in formula (1).
Further, in step 2, space manipulator changes posture configuration, carries out with assembly spacecraft other parts
Momentum-exchange is made assembly spacecraft motion state change, is combined using the sensor measurement on Servicing spacecraft
Angular velocity information of the body in inertial space, then establishes parameter identification database.
Further, it is as follows suitably to recognize criterion, calculating parametric procedure to be identified for selection described in step 3:
Step (1): identification criterion is selected: when using space manipulator as the executing agency for generating excitation, assembly
Spacecraft is not by the effect of bonding force and bonding force square, the entire Space Vehicle System conservation of momentum,
Assuming that the passive space vehicle identified parameters picked out are denoted as respectivelyWithWherein:
For k-th of sampling instant, function is introducedIts expression formula is as follows:
Wherein,For k-th of sampling instant, the assembly angular momentum based on identifier,For
Initial samples moment, the assembly angular momentum based on identifier；
It enablesIntroduce following optimization aim:
If there is N group data, 1≤k≤N, then
Step (2): formula (8) is to recognize criterion in step (1), and the identification problem of mass property has been converted into non-at this time
The optimization problem of linear system, therefore passive space vehicle is calculated using the parameter identification database that optimization method and step 2 are established
Identified parameters；
Step (3): since the physical quantity recognized in step (2) is the information of target rather than the quality of assembly spacecraft
Characteristic, and the posture of the inertial tensor of assembly spacecraft and centroid position and Servicing spacecraft and space manipulator each moment
It is related, therefore assembly spacecraft mass characteristic is calculated according to the following formula:
IC=IS+IR+RITRT+mT(ρT TρTE3-ρTρT T) (9)
mC=mT+mR+mS (11)
Wherein, rCFor position vector of the assembly spacecraft centroid in Servicing spacecraft body coordinate system, rRFor mechanical arm matter
Position vector of the heart in Servicing spacecraft body coordinate system, rTIt is position arrow of the target centroid in Servicing spacecraft body coordinate system
Amount, mCFor assembly spacecraft mass.
Further, the passive space vehicle in step 1 is Chang Zhiliang rigid body, and is not generated actively motor-driven；In step 1
Servicing spacecraft is Chang Zhiliang rigid body, measures angular speed using self-sensor device；As the space of arresting agency in step 1
Mechanical arm can be such that passive space vehicle and Servicing spacecraft constitutes without the Chang Zhiliang rigid body for relatively rotating and sliding.
Further, in step 1, after space manipulator captures passive space vehicle, in non-active adjustment stance stage,
Space manipulator is locking state, i.e., each joint does not rotate or slides, and normal matter can be equivalent to by knowing assembly spacecraft at this time
Measure rigid body；Opposite slide and relative rotation does not occur always for space manipulator tail end connecting rod and passive space vehicle.
Further, in step 2, excitation carries out posture changing using space manipulator, keeps assembly spacecraft each
Part carries out momentum-exchange, and assembly spacecraft motion state is made to change.
The beneficial effects of the present invention are:
Assembly is formed after spacecraft capture target；It is navigated by the spaceborne actuator in step 1 to entire assembly
Its device generates excitation, obtains the state change of assembly spacecraft, then establishes parameter according to excitation input and state output and distinguishes
Know database；The suitable identification criterion of selection, calculates parameter to be identified.The present invention only utilizes single space manipulator, it is same
Shi Zuowei arresting agency and the executing agency for generating excitation, the specific implementation steps are as follows, simultaneously using space manipulator capture target
It is in the lock state mechanical arm；Mechanical arm actively changes posture as driving source, measures assembly spacecraft later and moves shape
State information establishes parameter identification database.Using single space manipulator just can a step pick out assembly whole quality it is special
Property (quality, centroid position and inertial tensor), the assembly mass property after identification is it is known that can get accurate kinetic simulation
Type is subsequently used in rail control system.Test result shows a kind of identification assembly spacecraft mass proposed by the present invention, mass center position
The higher identification result of precision can be obtained with the method for inertial tensor by setting.
Particularly advantage of the invention shows the following aspects:
1, the method for a kind of identification assembly spacecraft mass of the invention, centroid position and inertial tensor will dexterously grab
It catches mechanism and driving source combines, only realize capture target simultaneously using a mechanical arm and generate identification excitation, alleviate in-orbit
Servicing spacecraft load burden.
2, the method for a kind of identification assembly spacecraft mass of the invention, centroid position and inertial tensor is due to utilizing machine
Tool arm more saves fuel as driving source, compared to using thruster as the scheme of driving source, only utilizes solar energy sailboard
The electric energy of offer can work.
3, only a step calculates the method for a kind of identification assembly spacecraft mass of the invention, centroid position and inertial tensor
It can be obtained all amounts to be identified, be divided into the progress of two steps compared to by the identification process of inertial tensor and quality, centroid position
Discrimination method, without the relationship that intercouples in the identification of artificial cutting parameter, without doing any hypothesis and letter to nonlinear system
Change.
4, the method for a kind of identification assembly spacecraft mass of the invention, centroid position and inertial tensor only needs to measure
Angle and angular speed, do not need angular acceleration, i.e., the data for only needing the sensor on Servicing spacecraft directly to measure, without
Data are observed, thus keep computational accuracy higher, it is as a result more reliable.
5, the method for a kind of identification assembly spacecraft mass of the invention, centroid position and inertial tensor does not need power
Learn modeling, it is only necessary to utilize the law of conservation of angular momentum, global optimization can be carried out to nonlinear system using inputoutput data.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is assembly spacecraft structure schematic diagram,
Wherein: 1- Servicing spacecraft, 2- passive space vehicle, 3- space manipulator, 4- mechanical arm final stage connecting rod, 5- are grabbed
It catches a little；
Fig. 2 is assembly spacecraft each section coordinate system schematic diagram,
Wherein: O-XYZ is inertial coordinate system, OS-XSYSZSFor Servicing spacecraft body coordinate system, ORi-XRiYRiZRi(i
It=1,2,3) is space manipulator link rod coordinate system (each joint coordinate system of space manipulator), OT-XTYTZTFor target this system, CS
For Servicing spacecraft mass center, CRFor mechanical arm system mass center, CTFor target centroid.
Specific embodiment
1,2 the present invention will be further described with reference to the accompanying drawing.
A method of identification assembly spacecraft mass, centroid position and inertial tensor, Servicing spacecraft 1 utilize space
Assembly spacecraft is formed after 3 capture target 2 of mechanical arm, as shown in Figure 1, mechanical arm 3 is locking state, assembly space flight at this time
Device can be considered Chang Zhiliang rigid body.Space manipulator changes posture configuration, carries out momentum-exchange with assembly spacecraft other parts,
So that assembly spacecraft motion state is changed, obtains assembly in inertia sky using the sensor measurement on Servicing spacecraft
Between in angular velocity information, then establish parameter identification database.Suitable identification is selected using the law of conservation of angular momentum later
Criterion, and parameter to be identified is calculated using optimization algorithm.
The method of the identification assembly spacecraft mass, centroid position and inertial tensor is as follows:
Step 1: establishing Servicing spacecraft body coordinate system OS-XSYSZS, origin OSIt is fixed on Servicing spacecraft mass center CS；It establishes
Robot linkage coordinate system ORi-XRiYRiZRi(i=1,2,3), each gonnecting rod body coordinate system of robot linkage coordinate system, that is, mechanical arm,
Each linkage origin is enabled to be fixed on corresponding joint, x-axis is directed toward next joint from linkage origin along connecting rod direction；It establishes
Target this system OT-XTYTZT, target this system origin OTPositioned at arresting a little 5, three axis directions and final stage robot linkage are sat
Mark system OR3-XR3YR3ZR3In parallel, since mechanical arm 3 and target 2 are rigid connection, nothing is relative to sliding and rotates, and final stage machine
Tool arm link coordinate system OR3-XR3YR3ZR3It is only related with mechanical arm posture, relative to Servicing spacecraft this system OS-XSYSZS's
Posture is known, therefore the target this system is known, and unrelated with target information, each coordinate system schematic diagram such as Fig. 2 institute
Show.
Step 2: determining physical quantity to be identified；The target this system O established by step 1T-XTYTZTProperty is it is found that mesh
Marking relative to the inertial tensor of target this system is constant, target centroid CTRelative to target this system origin OTPosition exist
Target this system OT-XTYTZTIn be constant, therefore the two amounts and aimed quality can be used as physical quantity to be identified.
Shown in assembly spacecraft each section inertial tensor relationship such as formula (1).
IC=IS+IR+RITRT+mT(ρT TρTE3-ρTρT T) (1)
Wherein, ICInertial tensor for assembly in Servicing spacecraft body coordinate system, IRIt is mechanical arm in Servicing spacecraft body
The inertial tensor of coordinate system, ITInertial tensor for target relative to its own this system, R are final stage under Servicing spacecraft
Robot linkage relative inertness system attitude matrix, mSFor Servicing spacecraft quality, mRFor entire mechanical arm system quality, mTFor mesh
Mark quality, ρTFor target centroid CTPosition vector in inertial system, E3For 3 rank unit matrixs.
Target centroid CTTo position vector r of target this system origin in objective body coordinate system and target centroid CTUsed
Position vector ρ in property systemTRelationship is as follows:
R=RTS[RS(ρT-ρS)-r1] (2)
Wherein, RTSAttitude matrix for objective body coordinate system relative to Servicing spacecraft body coordinate system, RSTo service space flight
Attitude matrix of the body coordinate system relative to inertial system, r1To arrest a little to Servicing spacecraft mass center CSIt is sat in Servicing spacecraft body
Vector in mark system, ρSFor Servicing spacecraft mass center CSPosition vector in inertial system system.
I in formula (1)T、mTIt is physical quantity to be identified with the r in formula (2).
Step 3: space manipulator changes posture configuration, carries out momentum-exchange with assembly spacecraft other parts, makes group
Fit spacecraft motion state changes, and obtains assembly in inertial space using the sensor measurement on Servicing spacecraft
Angular velocity information, then establish parameter identification database.
Step 4: selection identification criterion；When using space manipulator as the executing agency for generating excitation, assembly boat
Its device is built not by the effect of bonding force and bonding force square, the entire Space Vehicle System conservation of momentum with conservation of angular momentum principle
Shown in mould such as formula (3).
hc=hc(0)=ICω (3)
Wherein hcFor the linear momentum of certain moment combined system system, hcIt (0) is the angular momentum of assembly system initial time, ω
For angular speed of the assembly spacecraft in inertial system, ICAs shown in formula (1).
Assuming that the parameter picked out is denoted as respectivelyWithWherein:
For k-th of sampling instant, function is introducedIts expression formula is as follows:
Wherein,For k-th of sampling instant, the assembly angular momentum based on identifier,For
Initial samples moment, the assembly angular momentum based on identifier.
It enablesIntroduce following optimization aim:
If there is N group data, 1≤k≤N, then
Step 5: the present embodiment is to carry out identification and simulation to assembly spacecraft, is carried out just to spacecraft mass characteristic first
Beginningization design defines mass property such as following table of the assembly spacecraft each section relative to each self coordinate system.
1 assembly spacecraft each section mass property of table
Formula (8) is to recognize criterion in step 4, and the identification problem of mass property has been converted into nonlinear system at this time
Optimization problem, therefore band identification physical quantity is calculated using optimization method and database.Identification result such as following table.
The identification result of 2 aimed quality characteristic of table
| True value | Identification result | Relative error | |
| mT(kg) | 70 | 70.053 | 0.053 |
| Ixx(kg·m2) | 30 | 30.034 | 0.034 |
| Iyy(kg·m2) | 10 | 9.980 | 0.020 |
| Izz(kg·m2) | 20 | 20.158 | 0.158 |
| Ixy(kg·m2) | 4 | 3.972 | 0.028 |
| Ixz(kg·m2) | -2 | -2.512 | 0.512 |
| Iyz(kg·m2) | 1 | 1.095 | 0.095 |
| rx(m) | 0.2 | 0.177 | 0.023 |
| ry(m) | 0.05 | 0.049 | 0.001 |
| rz(m) | 0.1 | 0.087 | 0.013 |
Step 6: calculating assembly spacecraft mass characteristic according to the following formula.
IC=IS+IR+RITRT+mT(ρT TρTE3-ρTρT T) (9)
mC=mT+mR+mS (11)
By formula (9)-formula (11) it is found that the inertial tensor and centroid position of assembly spacecraft and Servicing spacecraft and
The posture at space manipulator each moment is related, according to the aimed quality characteristic information that step 5 obtains, is brought into formula (9)-public affairs
Formula (11) can calculate assembly mass property.
The result shows that the side of a kind of identification assembly spacecraft mass proposed by the present invention, centroid position and inertial tensor
Method can obtain the higher identification result of precision.
The scope of the present invention is not only limited to this real mode, and the present embodiment is used to explain the present invention, it is all with it is of the invention
Change or modification under the conditions of same principle and design is within protection scope disclosed by the invention.It is any to be familiar with this technology neck
The technical staff in domain in the technical scope disclosed by the present invention, is equal according to the technical scheme of the invention and its inventive conception
Replacement changes, and should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of identification assembly spacecraft mass, the method for centroid position and inertial tensor, which is characterized in that the method packet
It includes:
Step 1: Servicing spacecraft forms assembly, the assembly by space manipulator capture target spacecraft latter three
For assembly spacecraft, angular momentum modeling is carried out to three parts of assembly spacecraft respectively, and then constructs assembly space flight
The angular momentum model of device, the angular momentum model by the excitation in each joint of space manipulator, assembly spacecraft angular speed,
The real-time measurement values of linear velocity and parameter to be identified determine；
Step 2: generating excitation to entire assembly spacecraft by the space manipulator on the Servicing spacecraft in step 1,
The state output of assembly spacecraft: the real-time measurement of angular speed, linear velocity is obtained by the sensing element on Servicing spacecraft
Value then establishes parameter identification database according to excitation input and state output；
Step 3: the suitable identification criterion of selection calculates parameter to be identified: assembly spacecraft mass, centroid position and inertia
Tensor；
The model according to step 1 writes out the expression formula of the assembly spacecraft angular momentum model at any two moment, by the two
A nonlinear equation is obtained as difference, weighing apparatus principle is kept according to momentum, which is equal to zero, will be in parameter identification database
The inputoutput data at corresponding moment substitutes into null nonlinear equation, at this time in nonlinear equation all unknown numbers be to
Identified parameters are to calculate the process of parameter to be identified according to the process that optimization algorithm solves all unknown numbers of nonlinear equation.
2. a kind of identification assembly spacecraft mass, the method for centroid position and inertial tensor according to claim 1,
It is characterized in that:
In step 1, the angular momentum model process for constructing assembly spacecraft is as follows:
Step (1): establishing target this system, and target this system origin, which is located at, arrests a little, three axis directions and final stage mechanical arm
Link rod coordinate system is parallel, and since mechanical arm and target are rigid connection, nothing is relative to sliding and rotation, and final stage mechanical arm connects
Bar coordinate system is related with mechanical arm posture, and the posture relative to Servicing spacecraft this system is known, therefore the target sheet
System is known, and unrelated with target information；
Step (2): the angular momentum model of assembly spacecraft of the building containing parameter to be identified；The mesh established by step (1)
Sample system property is it is found that passive space vehicle is constant, passive space vehicle mass center relative to the inertial tensor of target this system
Coordinate system of the position in space manipulator end joint relative to space manipulator end joint mass center be it is constant, due to mesh
It is constant for marking the quality of spacecraft, therefore first acquires quality, centroid position and the inertial tensor of passive space vehicle, and then obtain
Assembly spacecraft mass, centroid position and inertial tensor；
Shown in the inertial tensor such as formula (1) for obtaining assembly spacecraft by assembly spacecraft each section inertial tensor:
IC=IS+IR+RITRT+mT(ρT TρTE3-ρTρT T) (1)
Wherein, ICInertial tensor for assembly in Servicing spacecraft body coordinate system, IRIt is mechanical arm in Servicing spacecraft body coordinate
The inertial tensor of system, ITInertial tensor for target relative to its own this system, R are that final stage is mechanical under Servicing spacecraft
Arm link relative inertness system attitude matrix, mSFor Servicing spacecraft quality, mRFor entire mechanical arm system quality, mTFor target boat
Its device quality, ρTThe position vector for being target centroid in inertial system, E3For 3 rank unit matrixs；
Target centroid is to position vector r of target this system origin in objective body coordinate system and target centroid in inertial system
Position vector ρTRelationship is as follows:
R=RTS[RS(ρT-ρS)-r1] (2)
Wherein, RTSAttitude matrix for objective body coordinate system relative to Servicing spacecraft body coordinate system, RSFor Servicing spacecraft body
Attitude matrix of the coordinate system relative to inertial system, r1To arrest a little to Servicing spacecraft mass center in Servicing spacecraft body coordinate system
Vector, ρSFor position vector of the Servicing spacecraft mass center in inertial system system；
I in formula (1)T、mTIt is physical quantity to be identified, therefore the angular momentum mould of assembly spacecraft with the r in formula (2)
Shown in type such as formula (3):
hc=hc(0)=ICω (3)
Wherein hcFor the linear momentum of certain moment combined system system, hcIt (0) is the angular momentum of assembly system initial time, ω is group
Angular speed of the fit spacecraft in inertial system, ICAs shown in formula (1).
3. a kind of identification assembly spacecraft mass, the method for centroid position and inertial tensor according to claim 2,
It is characterized in that: in step 2,
Space manipulator changes posture configuration, carries out momentum-exchange with assembly spacecraft other parts, makes assembly spacecraft
Motion state changes, and obtains angular speed of the assembly in inertial space using the sensor measurement on Servicing spacecraft and believes
Breath, then establishes parameter identification database.
4. a kind of identification assembly spacecraft mass, the method for centroid position and inertial tensor according to claim 3,
Be characterized in that: it is as follows that selection described in step 3 suitably recognizes criterion, calculating parametric procedure to be identified:
Step (1): identification criterion is selected: when using space manipulator as the executing agency for generating excitation, assembly space flight
Device is not by the effect of bonding force and bonding force square, the entire Space Vehicle System conservation of momentum,
Assuming that the passive space vehicle identified parameters picked out are denoted as respectivelyWithWherein:
For k-th of sampling instant, function is introducedIts expression formula is as follows:
Wherein,For k-th of sampling instant, the assembly angular momentum based on identifier,It is initial
Sampling instant, the assembly angular momentum based on identifier；
It enablesIntroduce following optimization aim:
If there is N group data, 1≤k≤N, then
Step (2): formula (8) is to recognize criterion in step (1), and the identification problem of mass property has been converted into non-linear at this time
The optimization problem of system, therefore calculate passive space vehicle using the parameter identification database that optimization method and step 2 are established and recognize
Parameter；
Step (3): since the physical quantity recognized in step (2) is the information of target rather than the quality of assembly spacecraft is special
Property, and the inertial tensor of assembly spacecraft and the posture of centroid position and Servicing spacecraft and space manipulator each moment have
It closes, therefore calculates assembly spacecraft mass characteristic according to the following formula:
IC=IS+IR+RITRT+mT(ρT TρTE3-ρTρT T) (9)
mC=mT+mR+mS (11)
Wherein, rCFor position vector of the assembly spacecraft centroid in Servicing spacecraft body coordinate system, rRExist for mechanical arm mass center
Position vector in Servicing spacecraft body coordinate system, rTIt is position vector of the target centroid in Servicing spacecraft body coordinate system, mC
For assembly spacecraft mass.
5. a kind of identification assembly spacecraft mass according to claim 1,2,3 or 4, centroid position and inertial tensor
Method, it is characterised in that:
Passive space vehicle in step 1 is Chang Zhiliang rigid body, and is not generated actively motor-driven；Servicing spacecraft in step 1 is
Chang Zhiliang rigid body measures angular speed using self-sensor device；It can make mesh as the space manipulator of arresting agency in step 1
It marks spacecraft and Servicing spacecraft is constituted without the Chang Zhiliang rigid body for relatively rotating and sliding.
6. a kind of identification assembly spacecraft mass, the method for centroid position and inertial tensor according to claim 5,
It is characterized in that:
In step 1, after space manipulator captures passive space vehicle, in non-active adjustment stance stage, space manipulator is lock
Death situation state, i.e., each joint do not rotate or slide, and Chang Zhiliang rigid body can be equivalent to by knowing assembly spacecraft at this time；Space mechanism
Opposite slide and relative rotation does not occur always for arm tail end connecting rod and passive space vehicle.
7. a kind of identification assembly spacecraft mass, the method for centroid position and inertial tensor according to claim 6,
It is characterized in that:
In step 2, excitation carries out posture changing using space manipulator, and assembly spacecraft various pieces is made to carry out momentum
Exchange, makes assembly spacecraft motion state change.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111604900A (en) * | 2020-05-18 | 2020-09-01 | 哈尔滨工业大学 | Target parameter detection method suitable for manual operation of manipulator |
| CN111814368A (en) * | 2020-06-09 | 2020-10-23 | 广东国地规划科技股份有限公司 | Tensor-based land utilization simulation method, system, equipment and storage medium |
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| CN112213030B (en) * | 2020-08-28 | 2021-12-07 | 珠海格力电器股份有限公司 | Compressor modeling method |
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| CN112478200A (en) * | 2020-11-27 | 2021-03-12 | 哈尔滨工业大学 | Attitude and orbit coupling control method for identifying all quality parameters of combined spacecraft |
| CN112478200B (en) * | 2020-11-27 | 2022-06-14 | 哈尔滨工业大学 | Attitude and orbit coupling control method for identifying all quality parameters of combined spacecraft |
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| CN113060309B (en) * | 2021-03-29 | 2022-06-03 | 北京航空航天大学 | Space target parameter identification method under double-arm capture based on dynamic model |
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