关键词: 漂浮基;柔性空间机械臂;捕获卫星;碰撞动力学;镇定运动控制;柔性振动抑制

Abstract: The impact dynamics model of space manipulator capturing a satellite on orbit is derived, during the post-impact process, a calming motion control with RBF neural network and an active suppression for flexible vibration are discussed. In pre-impact process, according to the assumptive model method and Lagrangian equation, the dynamics model of space manipulator system is derived. In impact process, considering the kinematic and force transfer relationship between the space manipulator and satellite, and base on the momentum conservation, the impact effect for the rigid motion and flexible vibration of the space manipulator system is analysed. In post-impact process, considering the interaction of space manipulator and target satellite, the synthesized dynamics model of both is derived, for the impact effect, base on the singular perturbation theory, the synthesized dynamics model is decomposed into a fast subsystem which represents the assembly system’s flexible vibration, and a slow subsystem which represents the assembly system’s rigid motion. A RBF neural network control is designed for calming rigid motion; a linear quadratic optimal control is designed for suppressing flexible vibration. The simulation results show the efficiency of the controls.

Key words: free floating base;flexible space manipulator;capture satellite;impact dynamics;calming motion control;flexible vibration suppression