Bai Xinlin, Li Xiwen, Zhao Zhen, Xu Zhigang
School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China.
Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China.
Sci Rep. 2025 Jan 14;15(1):1955. doi: 10.1038/s41598-025-86271-w.
To achieve rapid and stable detumbling of a space noncooperative satellite, an adaptive variable admittance control method for the manipulator is proposed and verified through simulation study and the ground experiment. The control block diagram of the proposed method is presented, and the adaptive variable admittance compliant detumbling control model is established. The proposed controller includes the fixed admittance controller in manipulator task space, the adaptive pose compensator for the grasping point on docking ring, and the damping adaptive regulator based on manipulator joint angular velocity, and the stability is proven by the Lyapunov method. Subsequently, the advantage of proposed method is verified through simulation comparison with other compliant detumbling methods, demonstrating the ability to reduce the velocity and angular velocity of the space noncooperative satellite in a shorter time. Finally, the composition of the designed ground hardware-in-the-loop verification platform are demonstrated, and on this basis, verification principle is elaborated. The ground experiment process for detumbling a space noncooperative spinning satellite is formulated, and the time sequence for its five phases is planned. The experimental results show that during the relative detumbling process, the spin angular velocity of the simulated space noncooperative satellite gradually decreases to the desired value of - 0.089°/s, significantly outperforming the fixed admittance control method. At the end of this phase, absolute value of the angular velocity component deviation is only 0.019°/s. Ground test verifies the effectiveness of the proposed method and provides vital basis for its further application.
为实现对空间非合作卫星的快速稳定消旋，提出了一种针对机械手的自适应可变导纳控制方法，并通过仿真研究和地面实验进行了验证。给出了该方法的控制框图，建立了自适应可变导纳柔顺消旋控制模型。所提出的控制器包括机械手任务空间中的固定导纳控制器、对接环上抓取点的自适应位姿补偿器以及基于机械手关节角速度的阻尼自适应调节器，并通过李雅普诺夫方法证明了其稳定性。随后，通过与其他柔顺消旋方法的仿真比较，验证了所提方法的优势，表明其能够在更短时间内降低空间非合作卫星的速度和角速度。最后，展示了所设计的地面硬件在环验证平台的组成，并在此基础上阐述了验证原理。制定了对空间非合作自旋卫星进行消旋的地面实验流程，并规划了其五个阶段的时间序列。实验结果表明，在相对消旋过程中，模拟的空间非合作卫星的自旋角速度逐渐降低至期望值-0.089°/s，明显优于固定导纳控制方法。在该阶段结束时，角速度分量偏差的绝对值仅为0.019°/s。地面试验验证了所提方法的有效性，为其进一步应用提供了重要依据。
