TY - GEN
T1 - A towing orbit transfer method of tethered space robots
AU - Wang, Bingheng
AU - Meng, Zhongjie
AU - Huang, Panfeng
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - Towing transfer is considered as an effective but challenging countermeasure for the space debris removal. To ensure the safe transfer, an entire towing transfer method for the dumbbell-like combination of TSR and debris is proposed in this paper. A time-energy optimal orbit is first designed using the Gauss pseudospectral method. Then, the effects of tether length and spacecraft mass on the equilibrium position are analyzed, which provides a basis for the selection of attitude command. Finally, a LQR based orbit compensator is adopted to maintain the orbit and the computed torque PID theory is employed to design the control law for tracking the expected tether length, in-plane and out-of-plane angles. Besides, an anti-windup module is added to the controller due to the actuator saturation. Simulation results show that the transfer is fulfilled by optimal thrust, and the proposed attitude control is effective in the presence of the thrust constraints.
AB - Towing transfer is considered as an effective but challenging countermeasure for the space debris removal. To ensure the safe transfer, an entire towing transfer method for the dumbbell-like combination of TSR and debris is proposed in this paper. A time-energy optimal orbit is first designed using the Gauss pseudospectral method. Then, the effects of tether length and spacecraft mass on the equilibrium position are analyzed, which provides a basis for the selection of attitude command. Finally, a LQR based orbit compensator is adopted to maintain the orbit and the computed torque PID theory is employed to design the control law for tracking the expected tether length, in-plane and out-of-plane angles. Besides, an anti-windup module is added to the controller due to the actuator saturation. Simulation results show that the transfer is fulfilled by optimal thrust, and the proposed attitude control is effective in the presence of the thrust constraints.
UR - http://www.scopus.com/inward/record.url?scp=84964527072&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2015.7418896
DO - 10.1109/ROBIO.2015.7418896
M3 - 会议稿件
AN - SCOPUS:84964527072
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 964
EP - 969
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -