To solve the problem of space debris, a film capture pocket system is designed in this paper. The film capture
pocket is more flexible and reliable, compared with the space rope net. The film capture pocket system
contains many flexible structures that are prone to large deformation and vibration during movement.
The deformation causes large disturbances to the service spacecraft. It is necessary to establish an
accurate rigid-flexible coupling dynamic model for quantitative analysis of disturbances. First, a film
dynamic model is developed using high-order absolute nodal coordinate formulation. Second, an attitude
tracking control law is designed by using the fast nonsingular terminal sliding mode controller and fixed
time dilation observer (FxESO). Finally, combining dynamics and control principles, a virtual prototype of
spacecraft with film capture pocket system is established. The simulation results show that higher-order
absolute nodal coordinate formulation elements have better convergence, compared to ABAQUS finite
element analysis. Meanwhile, the dynamic model simulates the deformation and vibration states of large
flexible structures, during the spacecraft maneuver. The FxESO can estimate and compensate the complex
disturbance. The error under fast nonsingular terminal sliding mode + FxESO control law converge more
rapidly than the nonsingular terminal sliding mode + expansion observer control law. The final spacecraft
attitude tracking error is about 10−4, indicating the effectiveness of the controller. |
