CAJ | 학술논문

空间站利用再对接机械臂系统（RMS）进行在轨组装时，通常采用核心舱控制力矩陀螺（CMG）进行姿态控制。针对组装过程中CMG角动量可能发生饱和，采用喷气卸载带来严重的控制／结构耦合问题，设计了RMS的运动规律，以减小负载运动对核心舱产生的干扰，避免CMG角动量饱和。鉴于组装过程中空间站质量特性变化很大，设计了强鲁棒非线性姿态控制律，以增强控制系统的抗扰动和适应性能力。
공간참이용재대접궤계비계통（RMS）진행재궤조장시，통상채용핵심창공제력구타라（CMG）진행자태공제。침대조장과정중CMG각동량가능발생포화，채용분기사재대래엄중적공제／결구우합문제，설계료RMS적운동규률，이감소부재운동대핵심창산생적간우，피면CMG각동량포화。감우조장과정중공간참질량특성변화흔대，설계료강로봉비선성자태공제률，이증강공제계통적항우동화괄응성능력。
During the process of Space Station assembly by using Re-docking Manipulator System, the core module CMG is often used to perform attitude control. When CMG angular momentum is saturated , desaturation is required by use of thrusters which may lead to undesirable control system/flex structure interaction. To avoid angular momentum coming to saturation, the motion rule of RMS is predetermined to reduce the disturbances introduced by the acceleration of loads. In addition, great changes will take place on the mass property, so robust nonlinear attitude control algorithm is designed to enhance the ability of disturbance rejection and adaptability.