一种机械臂驱动电推力器的角动量卸载方法

A scheme is proposed to dynamically adjust the position and thrust direction of an electric thruster using a robotic arm in order to achieve flywheel angular momentum unloading and position maintenance of geostationary orbit satellites. The method for solving the command joint angle of the robotic arm is also provided. The configuration scheme，based on a three-degree-of-freedom manipulator and a single electric thruster，is designed. Furthermore，the thrust model of the electric thruster and the torque model relative to the system centroid are established using kinematic relations of the manipulator. An optimization model of the system is then established with flywheel angular momentum unloading efficiency as an optimal index and constraints such as joint Angle range of the manipulator and thrust direction angle of the electric thruster. This optimization problem is solved by particle swarm optimization algorithm to obtain command joint Angles for manipulation while realizing position keeping through constraint on thrust direction angle. Numerical simulation results demonstrate that this proposed scheme effectively unloads three-axis angular momentum of flywheel group，meeting given constraints for three-axis attitude stability control based on geostationary orbit satellite.