CAJ | 학술논문

航天员舱外救生或作业时相对母体航天器经常要进行大角度姿态机动或姿态保持,利用欧拉四元数描述姿态无奇异性且冗余度小.然而航天员舱外调姿时通常含有一定的约束或是沿着某种预定轨迹,而且欧拉四元数在计算过程中可能发散.基于Udwadia和Kalaba提出的约束运动理论,分析了航天员和航天器的相对姿态的描述方法,直接用四元数对航天员的姿态进行动力学建模,将四元数2范数为1的约束加入到动力学方程里.利用该约束运动理论推导和仿真了航天员姿态欧拉角奇异时的姿态跟踪控制方法.该控制方法对航天员肢体变化引起的转动惯量等参数的改变具有鲁棒性,能通过平衡解稳定参数的选取方便地对控制系统的性能进行调节,且计算量小.
항천원창외구생혹작업시상대모체항천기경상요진행대각도자태궤동혹자태보지,이용구랍사원수묘술자태무기이성차용여도소.연이항천원창외조자시통상함유일정적약속혹시연착모충예정궤적,이차구랍사원수재계산과정중가능발산.기우Udwadia화Kalaba제출적약속운동이론,분석료항천원화항천기적상대자태적묘술방법,직접용사원수대항천원적자태진행동역학건모,장사원수2범수위1적약속가입도동역학방정리.이용해약속운동이론추도화방진료항천원자태구랍각기이시적자태근종공제방법.해공제방법대항천원지체변화인기적전동관량등삼수적개변구유로봉성,능통과평형해은정삼수적선취방편지대공제계통적성능진행조절,차계산량소.
Attitude maneuvering is essential for the astronaut during extravehicular rescue or operation. However the extravehicular astronaut is often limited by some constraint or trajectory requirement. The Udwadia and Kalaba's constrained motion theory was used to model the attitude motion mentioned above. The relative attitude relation between the astronaut and the spacecraft was developed via quaternion operation. An explicit tracking control method was introduced to design the attitude control systems of extravehicular rescue aid equipment. From the simulation, conclusion can be made that this explicit control method is robust to parameters uncertainty of the system such as the moment of inertial variance due to astronaut's limb disturbance, as well as that its simplicity implies its capability for real-time control.