串并混联系统的在轨协同精细操作策略

Quan An, Yao Zhang*, Chao Sheng, Yue Zang, Quan Hu

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

摘要

In response to the demands for precision operations in space missions,a serial-parallel hybrid free-floating space system is proposed that integrates the “macro” dynamic characteristics of space manipulators with the “micro” dynamic features of payload-pointing and controlled parallel platforms. A macro-micro cooperative precision operation strategy is subsequently designed for this system. Initially,a generic dynamic model of the tree-like multi-body system is established based on Kane's equations. By incorporating the kinematic constraints of each articulated joint along with the closed-loop constraints of the parallel platform,we derive the dynamic model for the serial-parallel hybrid space system. Following this,an analysis of motion coupling relations among various bodies within the free-floating. The system—grounded in principles of linear and angular momentum conservation—is conducted. This analysis culminates in developing a macro-micro cooperative operation strategy tailored for the hybrid system. Finally,numerical simulations are performed to validate both the accuracy of the dynamic model and the effectiveness of the macro-micro cooperative operation strategy,thereby providing valuable insights into engineering applications involving serial-parallel hybrid systems.

投稿的翻译标题On-orbit Cooperative Precise Operation Strategy for Serial-parallel Hybrid Systems
源语言繁体中文
页(从-至)1838-1848
页数11
期刊Yuhang Xuebao/Journal of Astronautics
45
11
DOI
出版状态已出版 - 11月 2024

关键词

  • Cooperative operation strategy
  • Coupling relations
  • Dynamic model
  • Hybrid system

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引用此

An, Q., Zhang, Y., Sheng, C., Zang, Y., & Hu, Q. (2024). 串并混联系统的在轨协同精细操作策略. Yuhang Xuebao/Journal of Astronautics, 45(11), 1838-1848. https://doi.org/10.3873/j.issn.1000-1328.2024.11.014