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Capture and detumbling control for active debris removal by a dual-arm space robot

Chinese Journal of Aeronautics 2022年第9期35卷 342-353页

作者： Dong HAN Gangqi DONG Panfeng HUANG Zhiqing MA National Key Laboratory of Aerospace Flight Dynamics Northwestern Polytechnical UniversityXi'an 710072China Research Center for Intelligent Robotics School of AstronauticsNorthwestern Polytechnical UniversityXi'an 710072China

active debris removal(ADR) technology is an effective approach to remediate the proliferation of space debris, which seriously threatens the operational safety of orbital spacecraft. This study aims to design a controller for a dual-arm space robot to capture tumbling debris, including capture control and detumbling control. Typical space debris is considered as a non-cooperative target, which has no specific capture points and unknown dynamic parameters. Compliant clamping control and the adaptive backstepping-based prescribed trajectory tracking control(PTTC)method are proposed in this paper. First, the differential geometry theory is utilized to establish the constraint equations, the dynamic model of the chaser-target system is obtained by applying the Hamilton variational principle, and the compliance clamping controller is further designed to capture the non-cooperative target without contact force feedback. Next, in the post-capture phase,an adaptive backstepping-based PTTC is proposed to detumble the combined spacecraft in the presence of model uncertainties. Finally, numerical simulations are carried out to validate the feasibility of the proposed capture and detumbling control method. Simulation results indicate that the target detumbling achieved by the PTTC method can reduce propellant consumption by up to24.11%.

关键词： active debris removal Adaptive backstepping control Compliant clamping control Prescribed trajectory tracking Space robot

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Survey on research and development of on-orbit active debris removal methods

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Science China(Technological Sciences) 2020年第11期63卷 2188-2210页

作者： ZHAO PengYuan LIU JinGuo WU ChenChen State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Beijing 100049China

Space debris is growing dramatically with the rapid pace of human exploration of space,which seriously threatens the safety of artificial spacecraft in ***,the active debris removal(ADR)is *** review aims to review the ADR methods and to advance related research in the *** current research and development status are clearly demonstrated by mapping knowledge domain and *** this paper,the latest research results are classified and summarized in detail from two aspects of space debris capture and *** scheme comparison and evaluation of all ADR methods are performed,and the applicable scopes of various methods are *** ADR method is scored using a cobweb evaluation model based on six *** development of ADR is discussed to promote further research interest.

关键词： space debris active debris removal on-orbit servicing space robotics capture method

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A Novel Two-Level Optimization Strategy for Multi-debris active removal Mission in LEO

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Computer Modeling in Engineering & Sciences 2020年第1期122卷 149-174页

作者： Junfeng Zhao Weiming Feng Jianping Yuan Shandong University Jinan250031China Northwestern Polytechnical University Xi’an710072China National Key Laboratory of Aerospace Flight Dynamics Xi’an710072China

Recent studies of the space debris environment in Low Earth Orbit(LEO)have shown that the critical density of space debris has been reached in certain *** active debris removal(ADR)mission,to mitigate the space debris density and stabilize the space debris environment,has been considered as a most effective *** this paper,a novel two-level optimization strategy for multi-debris removal mission in LEO is proposed,which includes the low-level and high-level optimization *** improve the overall performance of the multi-debris active removal mission and obtain multiple Pareto-optimal solutions,the ADR mission is seen as a Time-Dependant Traveling Salesman Problem(TDTSP)with two objective functions to minimize the total mission duration and the total propellant *** problem includes the sequence optimization to determine the sequence of removal of space debris and the transferring optimization to define the orbital *** optimization models for the two-level optimization strategy are built in solving the multi-debris removal mission,and the optimal Pareto solution is successfully obtained by using the non-dominated sorting genetic algorithm II(NSGA-II).Two test cases are presented,which show that the low level optimization strategy can successfully obtain the optimal sequences and the initial solution of the ADR mission and the high level optimization strategy can efficiently and robustly find the feasible optimal solution for long duration perturbed rendezvous problem.

关键词： Two-level optimization strategy active debris removal non-dominated sorting genetic algorithm bi-objective optimization LEO

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Minimum-fuel orbit transfer between SSO using low-thrust considering J2 perturbation

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Journal of Beijing Institute of Technology 2016年第S2期25卷 10-14页

作者：赵书阁李延艳张景瑞向开恒 The Second System Design Department of the Second Research Academy of China Aerospace Science and Industry Corporation School of Aerospace Engineering Beijing Institute of Technology

The objective of this paper is to find the minimum-fuel orbit transfer between sun-synchronous orbits with low-thrust while considering the Jperturbation.A quasi-circular orbit model with the effect of the Jperturbation is *** minimum fuel problem is solved by the indirect optimization *** effective techniques are employed in solving the indirect optimization problem with a shooting method,which include energy-to-fuel homotopy,normalization of the initial costate vector,computation of the analytic Jacobians matrix,and switching *** simulation results show that the solution of the minimum-fuel long duration orbit transfer with lowthrust considering Jperturbation can be obtained by applying these preceding techniques.

关键词： minimum fuel J2 perturbation sun-synchronous orbits active debris removal

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