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首页> 外文会议>International Astronautical Congress >MULTI-DOF DYNAMIC SIMULATION AND EXPERIMENT OF ELECTROMAGNETIC RENDEZVOUS AND SOFT DOCKING OPERATION WITH REAL-TIME FEEDBACK CONTROL
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MULTI-DOF DYNAMIC SIMULATION AND EXPERIMENT OF ELECTROMAGNETIC RENDEZVOUS AND SOFT DOCKING OPERATION WITH REAL-TIME FEEDBACK CONTROL

机译：具有实时反馈控制的电磁共振和软对接操作的多DOF动态仿真与实验

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摘要

The contactless inter-satellite electromagnetic force, with its feature of no propellant consumption, no plume contamination and low impact, is a potential approach to satellite-satellite rendezvous and docking. It can be used in space applications such as on-orbit distributed optical interferometry. However, the high non-linearity and coupling of electromagnetic force/torque leads to control challenges for precise and soft docking. A multi-DOF dynamic problem should be investigated, since the relative trajectory and attitude motion are synchronously affected by the electromagnetic interactions. In this paper, we simulated near-field electromagnetic forces with finite element method. We also built a platform to measure the electromagnetic force and torque to verify the simulation results. The comparison results show that the near field simulation gives a good approximation of actual electromagnetic forces. For dynamic simulation of electromagnetic docking between two modules, we designed the expected trajectory and control law to satisfy soft docking requirements. The adaptive error feedback control law we designed is based on the far field model, combined with a first-order inertia filter of current. We linked the control loop with electromagnetic simulation to model the docking process. The final docking velocity from the dynamic simulation was smaller than 2cm/s, which satisfies soft docking requirements.
机译：非接触式卫星型电磁力，其特点是无推进剂消耗，没有羽毛污染和低影响，是卫星卫星结合和对接的潜在方法。它可以用于太空应用，例如轨道分布式光学干涉法。然而，电磁力/扭矩的高非线性和耦合导致控制精确和软对接的挑战。应该研究一种多DOF动态问题，因为相对轨迹和姿态运动对电磁相互作用同步影响。在本文中，我们用有限元法模拟了近场电磁力。我们还建立了一个平台来测量电磁力和扭矩以验证仿真结果。比较结果表明，近场仿真提供了实际电磁力的良好近似。对于两个模块之间的电磁对接的动态仿真，我们设计了预期的轨迹和控制法，以满足软件对接要求。我们设计的自适应误差反馈控制规律基于远场模型，与电流的一阶惯性滤波器组合。我们将控制回路与电磁仿真联系起来以模拟对接过程。动态模拟的最终对接速度小于2cm / s，满足软件对接要求。

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