中文摘要：

针对小型空间机器人抓捕大型空间非合作目标时被抓捕目标初始动量未知且不为0、实时辨识过程中基座姿态受扰动较大的问题,采用自适应反作用零空间控制方法保证在轨实时参数辨识阶段基座姿态受到的扰动最小,建立含有目标动力学参数的动量增量方程,根据在轨实时测量的基座线速度、角速度和机械臂关节角度、角速度求解目标的未知动力学参数.数值仿真结果表明,该方法在辨识过程中可实现空间机器人基座姿态较小的扰动,而且在初始动量未知且不为0的情况下能够实时高精度辨识出大型非合作目标的动力学参数.

英文摘要：

When a large non-cooperative target is captured by a small space robot, the initial momentum of the target may be non-zero and unknown, and the disturbances to the base attitude are large, which will affect the real-time parametric identification of the on-orbit target. To solve this problem, the adaptive reaction null space control is used to minimize the disturbances to the base attitude. Moreover, a momentum increment equation containing the dynamic parameters of the target is established, which is used to compute the unknown parameters based on the angular/linear velocities of the base and angle/angular velocities of the manipulator joint obtained through on-orbit real-time measurements. The numerical simulation results show that the proposed algorithm is able to accurately identify the dynamic parameters of large non-cooperative target in real time when the initial momentum is non-zero and unknown, while maintaining the minimum disturbance to the base.