| Author Name | Affiliation | | ZHAI Guang | Dept. of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China, gzhai@robotsat.com | | QIU Yue | Dept. of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China, gzhai@robotsat.com | | LIANG Bin | Dept. of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China, gzhai@robotsat.com | | LI Cheng | Dept. of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China, gzhai@robotsat.com |
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| Abstract: |
| A new flexible tether-net space robotic system used to capture space debris is presented in this paper. With a mass point assumption, a dynamic model of the tether-net system was established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories after being cast, the non-controlled R-bar and V-bar captures were simulated with ignoring the out-of-plane libration, and the effect of in-plane libration on the trajectories of the capture net was demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension was investigated, then an integrated control scheme was proposed by introducing thrusters into the system, and the nonlinear close-loop dynamics was linearised by feedforward strategy. Simulation results show that the feedforward controller is effective for in-plane libration damping and enables the capture net to track an expected trajectory. |
| Key words: tether-net system orbital capture modeling simulation feedforeward control |
| DOI：10.11916/j.issn.1005-9113.2009.02.005 |
| Clc Number:TP24 |
| Fund: |
