中文摘要：

针对航天器抓捕后由于系统质量特性和动量的改变而导致复合体系统失稳的问题,提出了两种基于角动量守恒的协调控制方法：关节阻尼控制和关节函数参数化协调控制。这两种方法通过对各关节和飞轮的速度进行协调规划和控制,实现对系统角动量的管理和重分配,在实现对目标进行停靠的同时,保证了基座的稳定性。两种方法各有优缺点,其中,关节函数参数化在实现系统稳定的同时还可使机械臂处于期望的臂型,以方便开展在轨维修等服务操作。所提出的方法将实际飞轮作为动量交换装置,具有很好的工程可实现性。仿真结果验证了方法的有效性。

英文摘要：

Two coordinated control methods, joint damping control and parameterised joint function coordinated control are proposed in this paper for stabilizing a spacecraft-captured coupling system based on conservation of angular momentum, for the coupling system may be unstable due to the change in mass characteristics and momentum of the coupling system. In these methods, management and re-distribution of angular momentum are used to stabilize the coupling system by planning and controlling the velocity of the flywheel and joints, the second method can be the hope of configuration, and is very convenient for on-orbit service. These methods using real flywheel as an actuator for momentum exchange are realizable in engineering. Simulation results show that these methods are effective.