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Coupled orbit-attitude dynamics and trajectory tracking control for spacecraft electromagnetic docking

机译：耦合轨道姿态动力学和航天器电磁对接的轨迹跟踪控制

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In this paper, the simplified electromagnetic force/torque model and coupled orbit-attitude dynamics modeling in spacecraft electromagnetic docking are investigated, and an improved sliding mode control scheme based on planned trajectory is proposed. In this scenario, the docking two spacecraft are equipped with four energized solenoids with iron cores fixed in the body frame, and small-angle hypothesis is used to derive the simplified electromagnetic force/torque model, based on which the coupled orbit-attitude dynamics equation is established. With trajectory planning of relative orbit and attitude, where the tracking process of coupled orbit-attitude is divided into three successive parts with predefined time using three characteristic time instants, a sliding mode control strategy is proposed to solve the tracking problem. Simulation results illustrate the simplification rationality of electromagnetic force/torque model, and the good tracking performance of coupled orbit-attitude tracking controller at predefined time.
机译：本文研究了航天器电磁对接中的简化电磁力/扭矩模型和耦合轨道姿态动力学建模，提出了一种基于计划轨迹的改进的滑动模式控制方案。在这种情况下，对接两种航天器配备有四个通电螺线管，其固定在车身框架中的铁芯，并且小角度假设用于得出简化的电磁力/扭矩模型，基于耦合轨道姿态动力学方程成立。利用相对轨道和姿态的轨迹规划，其中耦合轨道姿态的跟踪过程被分成三个连续部分，使用三个特征时间瞬间进行预定义的时间，提出了一种滑模控制策略来解决跟踪问题。仿真结果说明了电磁力/扭矩模型的简化合理性，以及在预定义时耦合轨道姿态跟踪控制器的良好跟踪性能。

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