Research on Capturing Target of Space Inflatable Net Capture System Based on Active Disturbance Rejection Control
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摘要: 空间充气展开绳网系统是依靠充气梁展开绳网进行目标捕获的航天器系统，具有更好的稳定性和可操控性.然而由于充气梁和绳网的大柔性变形以及捕获失稳自旋目标后的未知碰撞，使得捕获后的航天器姿态稳定控制困难.本文主要基于自抗扰控制解决了空间充气展开绳网系统捕获目标后的姿态稳定和消旋难题.首先，基于理想薄膜充压失效理论和绝对节点坐标方法建立充气展开绳网系统动力学模型，而后设计了航天器姿态稳定自抗扰控制器，用于实时估计并补偿系统捕获过程中未知惯量目标与捕获机构的碰撞干扰.仿真结果表明，动力学模型能够模拟捕获过程中充气梁的屈曲失效及碰撞特性，自抗扰控制器能够有效抑制碰撞带来的干扰，实现空间充气展开绳网系统捕获后的高精度姿态稳定控制，同时能够在有限时间内对自旋目标实现消旋.Abstract: Space inflatable net capture system (SINCS) relying on an inflatable beam to deploy nets for target acquisition is proposed for space-object capture, which has more stability and controllability. However, target capture process and attitude stabilization control of SINCS are not completely understood due to large flexible deformation of inflatable nets and unknown collisions after capturing unstable spinning targets. This paper mainly solves the problem of attitude stabilization and racemization of SINCS after capturing target based on active disturbance rejection control (ADRC). Firstly, the flexible multibody dynamic model of SINCS is established based on the failure theory of ideal thin film under pressure and absolute nodal coordinate formulation. Then, an active disturbance rejection control is designed to estimate and compensate the collision between the unknown inertia target and the acquisition mechanism in real time. Simulation results show that the capturing process for non-cooperative targets could reflect the buckling failure of the inflatable boom and collision characteristics. The ADRC controller could estimate and compensate the disturbances effectively. The excellent performance of the ADRC control law meets the requirement of spacecraft attitude stabilization control after capturing unstable spinning targets. Furthermore, it is found that the target can achieve racemization in a limited time.1) 本文责任编委 许斌
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表 1 服务航天器和捕获目标参数
Table 1 Parameters of spacecraft and target
Name Value Rotational inertia of spacecraft
(kg·m2)diag{900, 800, 1 000} Size of spacecraft (m) 2.5×2.5×4 Size of capture mechanism (m) ${l_d} = 0.4, {l_u} = 4, h = 4$ Rotational inertia of target ($\rm {kg\cdot{m^2}}$) diag{500, 500, 700} Size of target (m) 1.3×1.3×1.0 
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表 2 绳网和充气梁参数
Table 2 Parameters of net and inflatable boom
Name Nets Inflatable booms Diameter (m) 0.006 0.1 Density ($\rm {kg/{m^2}}$) 1 430 64 Poisson ratio 0.3 0.3 Modulus of elasticity (GPa) 12 ${E_1}=0.15, {E_2}=0.075$ Bending moment ($\rm {N\cdot{m}}$) - ${M_1}=5, {M_2}=10$
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