空间运动目标自主捕获路径规划分析-机械工程专业毕业论文.docxVIP

Ab Abstract -II- -II- Abstract With the development of the space on-orbit service technology, the content and scope of on-orbit service of space robot has been expanded broad gradually. The space missions like repairing failure spacecraft on-orbit, recycling space lapse satellite and cleaning up space junk is more and more. The autonomous capture technology of the target spacecraft plays a key role in these missions. So, the autonomous capture of failure spacecraft is studied as the main line in this paper. The motion prediction method of spacecraft is launched, and based on spacecraft motion predicted information, autonomous capture planning is put forward. At last, some mathematical simulation and physics experiments is operated to verify the method. For the target in autonomous capture, structural features of general spacecrafts are analyzed firstly. Then basing on space rigid body dynamics equations, motivating law of failure spacecraft is researched, the simplified model of spacecraft is constructed, and also the system state equations and measurement equations for motion prediction. Thinking of the nonlinear characteristics of the state equation, Extended Kalman filter and Unscented Kalman filter is introduced for predicting the motion of spacecraft. Although the extended Kalman filter can be used in nonlinear systems, the prediction results may converge for some strong nonlinear system. In using Unscented Kalman filter, the higher-order terms in model signals will not be neglected, so higher accuracy of predicted results for strong nonlinear systems can be achieved, also shortcomings of divergence predictive results and lower accuracy for extended Kalman filter is overcame. In the process of autonomous capture of spacecraft, path planning of space robots and capture planning is included. In this paper, the continuous acceleration path planning method in joint space is proposed. By constraining the size and variation of acceleration in the path points, force m