基于螺旋理论的DFP隔振航天器相对运动动力学建模与姿轨耦合控制

In order to better meet the future high precision task requirements, the DFP(Disturbance-Free Payload) spacecraft composed of non-contact PM(Payload Module)and SM(Support Module)is taken as the object to study the relative motion dynamics modeling and control between the two modules and verify the system vibration isolation performance. Firstly, the force and torque expressions of the two modules are derived by simplifying the configuration and analyzing the stress. In view of that couple effect, the relative motion dynamics equations between two modules of DFP spacecraft with high model accuracy, and simple and uniform format are established with the dual quaternions. Based on this, the PD control law is designed, and the relative motion of PM and SM could meet DFP spacecraft working requirements when the measurability of control quantity and the measurement error of sensors were taken into account. Simulation results verify the advantage of vibration isolation and attitude maneuverability of DFP spacecraft.