Coordinated Parameter Identification Technique for the Inertial Parameters of Non-Cooperative Target.

Xin Ning,Pihui Zhang,Teng Zhang,Shuai Li,Xiaokui Yue,Yaofa Wu,Jianping Yuan,Jiawei Zhang

doi:10.1371/journal.pone.0153604

Xin Ning, Pihui Zhang + Show 6 more

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https://doi.org/10.1371/journal.pone.0153604

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Abstract

Space operations will be the main space missions in the future. This paper focuses on the precise operations for non-cooperative target, and researches of coordinated parameter identification (CPI) which allows the motion of multi-joints. The contents of this paper are organized: (1) Summarize the inertial parameters identification techniques which have been conducted now, and the technique based on momentum conservation is selected for reliability and realizability; (2) Elaborate the basic principles and primary algorithm of coordinated parameter identification, and analyze some special problems in calculation (3) Numerical simulation of coordinated identification technique by an case study on non-cooperative target of spacecraft mounting dual-arm with six joints is done. The results show that the coordinated parameter identification technique could get all the inertial parameters of the target in 3D by one-time identification, and does not need special configuration or driven joints, moreover the results are highly precise and save much more time than traditional ones.

Highlights

Decentralized control is an effective strategy for interconnected large-scale systems
This paper aims to propose a fast and accurate coordinated parameter identification technique for space non-cooperative target, in which only one-time identification can we obtain multi-hinge 3D motion data at two time points in the system dynamic response
At last, taking the above parameters as the identification model inputs, the whole unknown inertial parameters are obtained, Input condition of the dynamics model and the initial state of the system The applied motion of the joint is a half cycle of cosine motion, and the change rate of the angle with time during half cycle is shown in the Fig 5

Summary

Introduction

Decentralized control is an effective strategy for interconnected large-scale systems. The important reason is that the high order system is decoupled into several ones. For space missions, such as on-orbit servicing and maintenance, the inertial parameters of the target are usually unknown (non-cooperative target). If the inertial parameter, an important factor that affects the performance of control system, is not obtained accurately, it will not be able to guarantee the high precision control of space assembly formed by active and target spacecraft. In order to ensure the control performance of two aspects, one is the relative position and attitude of the target and base, the other is the attitude and orbit of the assembly system, the on-orbit autonomous parameter identification

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