JPH0569899A - Motion control device for space navigating object - Google Patents

Abstract

PURPOSE:To realize high accurate control of a motion of containing a kinetic form of linear and nonlinear paragraphs by similarly contracting only a linear paragraph control command corrected in a predetermined value in a condition that the control command exceeds the predetermined value. CONSTITUTION:A linear paragraph control command and a nonlinear paragraph control command are input to a control command creating part 10. In this control command creating part 10, the control command is created and output to a control command processing part 12 based on the input linear and nonlinear paragraph control commands. In the control command processing part 12, when the input control command exceeds a predetermined value, the linear paragraph control command is corrected, set into a predetermined value and output to an actuator driving part 13. The actuator driving part 13 is connected to a motion controlling actuator 14, and a drive signal in accordance with the input control command is created to control a motion of a space navigating object by driving and controlling the actuator 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion control device used for controlling the motion of a spacecraft including an on-orbit working machine used for various works in outer space.

[0002]

2. Description of the Related Art Recently, in the field of space development, the development of large space vehicles such as space stations has been advanced. By the way, such a large spacecraft is a small spacecraft that is produced by dividing each part in advance on the ground, transports it to outer space in the divided state, and mounts a working manipulator in outer space. It is considered to assemble and install using.

However, in such a small spacecraft, the motion form of only the linear term for ensuring the followability is no longer present as in the conventional attitude control, and the manipulator for work is not required. Since a non-linear motion form due to centrifugal force, Carioli's force, etc. is generated due to the operation, it is necessary to compensate for the non-linear motion form in addition to the compensation of the linear term.

As such a motion control means, a control command is generated by adding a non-linear control command for compensating the non-linear term to a linear control command for compensating the linear term,
It has been considered to control the motion of the spacecraft by translational and rotational motions by drivingly controlling the drive actuator in accordance with this control command. In this case, unlike the linear term control command corresponding to the motion form of the linear term, the nonlinear term control command corresponding to the motion form of the non-linear term has a non-linear value, so that the handling is complicated. Have. As a problem, for example, when the control command exceeds the limit value of a motion control actuator such as a thruster, there is a need to set the correction of the control command as often as necessary. The limit value of this actuator is set according to the capability of the actuator itself.

[0005]

As described above, in the recent field of space development, there is a demand for the development of a motion control device capable of controlling motions associated with translational and rotational motions with high precision. ing.

The present invention has been made in view of the above circumstances and has a simple structure and is capable of realizing highly accurate control of motion including motion forms of a linear term and a non-linear term. An object of the present invention is to provide a motion control device of the.

[0007]

According to the present invention, there is provided a motion control device for a spacecraft, which controls motions caused by translational and rotational motions of the spacecraft, and motions generated by translational and rotational motions of the spacecraft. Command generating means for generating a control command by synthesizing a nonlinear term control command for compensating the nonlinear term of the form and a linear term control command for compensating the linear term generated by the translational and rotational motions of the spacecraft, and command generating means When the control command generated by the means exceeds a predetermined value, the control command processing means for modifying the linear term control command to set the control command within the predetermined value, and the control command processing means Motion control means that is driven and controlled in response to a control command, and controls motion generated by translational and rotational motions of the spacecraft. It is constructed by comprising a.

[0008]

According to the above construction, in the control command processing means, the control command exceeds the predetermined value, and only the linear term control command of the control command processing means is reduced in similarity and corrected within the predetermined value. As a result, even if the control command exceeds a predetermined value, the linear term control command is reduced in a similar manner so that the motion control characteristic of the spacecraft is deteriorated.
The deterioration of the characteristic is suppressed to the minimum.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows a motion control device for a spacecraft according to an embodiment of the present invention.
Reference numeral 0 indicates a linear term control command corresponding to a linear term for compensating the tracking of the system from a command unit (not shown) and the spacecraft 11
A non-linear term control command corresponding to the non-linear term for compensating the centrifugal force or the like applied to (see FIG. 2) is input. The control command generation unit 10 is connected to a control command processing unit 12 at its output end, generates a control command based on the input linear term control command and nonlinear term control command, and outputs the control command to the control command processing unit 12. .. The output end of the control command processing unit 12 is the actuator driving unit 13
When the control command input as shown in FIG. 2 exceeds a preset predetermined value, for example, a limit value, the linear term control command is modified to set the control command within the limit value. Output to the drive unit 13. The actuator drive unit 13 is connected to the motion control actuator 14 and generates a drive signal according to the input control command to drive-control the actuator 14 and control the motion of the spacecraft 11.

As the motion control of the spacecraft 11,
Motion control for controlling the attitude of the spacecraft 11,
It may be used for active motion control such as causing the spacecraft 11 to perform a predetermined motion.

As described above, the motion control device for a spacecraft described above uses a non-linear term for compensating the non-linear term of the motion form generated by the translational and rotational motions of the spacecraft 11 with the control command for driving and controlling the motion control actuator 14. A control command and a linear control command that compensates for the linear term are combined and generated, and with this control command exceeding the limit value,
Only the linear term control command was modified so that it was set within the limit value. According to this, the modified control command merely reduces the linear term control command in a similar manner, so that the nonlinear term control command is kept at a normal value. As a result, the motion control characteristics of the spacecraft 11 are reduced by the reduction amount, and even when the control command exceeds the limit value, it is possible to minimize the deterioration of the motion control characteristics, and it is possible to achieve high accuracy. Motion control becomes easy.

In the above embodiment, the thruster is used as the actuator for controlling the motion. However, the actuator is not limited to this, and a drive wheel or the like may be used. Therefore, it is needless to say that the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

[0014]

As described above in detail, according to the present invention, a space navigation with a simple structure and capable of realizing highly accurate control of motion including motion forms of linear terms and nonlinear terms. A body movement control device can be provided.

[Brief description of drawings]

FIG. 1 is a block diagram showing a motion control device for a spacecraft according to an embodiment of the present invention.

FIG. 2 is a diagram shown for explaining the operation of FIG.

[Explanation of symbols]

10 ... Control command generator, 11 ... Spacecraft, 12 ...
Control command processing unit, 13 ... Actuator driving unit, 1
4 ... Actuator.

Claims (1)

[Claims] 1. A motion control device for a spacecraft, which controls motions caused by translational and rotational motions of the spacecraft, compensating for non-linear terms of motion forms caused by translational and rotational motions of the spacecraft. Command generating means for generating a control command by synthesizing a non-linear term control command and a linear term control command for compensating a linear term generated by translational and rotational motions of the spacecraft, and a control command generated by this command generating means Control command processing means that corrects the linear term control command to set the control command within a predetermined value in a state that exceeds a predetermined value, and is driven in response to the control command processed by the control command processing means. And a motion control means for controlling the motion generated by the translational and rotational motions of the spacecraft. Motion control device for spacecraft.