Research on hardware system for capturing uncontrolled disabled satellites

本文研究的是捕获在轨损坏卫星等在轨服务硬件系统的实现。具有双机械臂的机器人卫星是在轨服务的选择之一。构建了以两个7自由度机械臂为跟踪卫星模型，以浮动试验台为目标卫星模型的地面实验模拟器系统。该系统是远程操作地面实验系统，由以下子系统组成：机器人系统、视觉系统、机械手操作系统、地面控制系统和损伤卫星模型系统。利用该系统，研究利用双机械臂对受损卫星进行捕获和靠泊的可行方法。利用该系统进行了基本的卫星捕获实验。此外，我们还开发了机器人卫星系统的地面实验系统，该系统由带空气推进器的全无线气浮卫星模拟器、位置离子传感系统和地面控制系统组成。我们还开发了为卫星配备的缆绳控制单元。我们进行了各种在轨服务实验。为了分析星群系统等空间系统的动力学和受损卫星的捕获过程，有必要将这类空间系统视为可重构多体系统。本文以地面实验系统为例，讨论了地面实验系统动力学的数值计算，以模拟双机械臂在地面上捕获和停泊卫星的过程。本文提出了具有碰撞和摩擦的接触动力学的线性互补问题，并考虑了保证线性互补精度的数值计算方法。提出了航天器和空间结构系统的结构和控制系统同步设计方法，以实现其自适应性。该过程基于双线性矩阵不等式（BMI）技术，并考虑了一般自适应结构模型的表述。理论和数值分析表明，系统的性能和可靠性得到了改善。此外，通过自适应陀螺仪系统的实验，表明了所提出的设计方法的可行性。少

This research is concerning realization of hardware systems for on-orbit servicing such as capturing damaged satellite in orbit. A robot satellite with dual-manipulators is one of the choices for on-orbit servicing. We have constructed a ground experiment simulator system including two 7-degree-of-freedom (DOF) manipulators as a chaser satellite model and floating testbeds as target satellite models. This system is a tele-operation ground experiment system and consists of the following subsystems : robot system, vision system, manipulator operating system, ground control system and damage satellite model system. Using this system, we will study on feasible capturing and berthing methods of damaged satellites using dual-manipulator. Using the system we conducted the basic satellite capturing experiments. In addition, we have developped a ground experiment system for the robot satellite system consisting of completely wireless air-floating satellite simulators with air-thrusters, a posit … More ion sensing system and a ground control system. We also developed tether control units equipped with for the satellites. We conducted various experiments for on-orbit servicing.In order to analyze dynamics of space systems, such as cluster satellite systems and the capturing process of damaged satellites, it is necessary to consider such space systems as reconfigurable multibody systems. In this study, we discuss the numerical computation of the dynamics of the ground experiment system to simulate the capturing and berthing process of a satellite by a dual-manipulator on the flat floor as an example. We formulate the linear complementarity problem (LCP) for the contact dynamics with impacts and frictions, which is one of the most difficult issues on our study, and consider the method of numerical computation with guaranteed accuracy of the LCP.Simultaneous design procedures on structure and control system are proposed for spacecraft and space structure systems to realize the adaptability.The procedures are based on the BMI (Bilinear Matrix Inequality) techniques and the general adaptive structure model is considered for the formulation. The theoretical and numerical analyses indicate the improvement in the performance and the reliability for the system. Furthermore, through the experiment with the adaptive gyroscopic system the possibility for the proposed design procedures has been indicated. Less