›› 2016, Vol. 36 ›› Issue (4): 17-.doi: 10.16708/j.cnki.1000-758X.2016.0042

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Inertiaparameteridentificationofonorbituncooperativeobject

KONG  Xiang-Long, LI  Wen-Long, LI  Wen-Feng, ZHAO  Yi   

  1. ShanghaiInstituteofSatelliteEngineering,Shanghai201109,China
  • Received:2016-01-07 Revised:2016-03-01 Online:2016-08-25 Published:2016-05-11

Abstract: Mostalgorithmsofinertiaparametersidentificationassumedthesystemmomentumknownandfewattentionwaspaidtotheattitudestabilizationofbase.Anincrementalformoftheidentificationequationwasgivenbasedontheconservationprincipleofmomentumandafractionalstepmethodwasproposed.Firstly,estimationequationsaboutthemassandpositionofmasscenterwereobtainedandtheunknownconstantlinearmomentumwaseliminatedinincrementalformulation.Theestimateoflinearmomentumwascalculatedwiththeestimatedparametersandthensubstitutedintoestimationequationsabouttheinertiatensors.Theincrementalequationswereobtainedagaintoeliminatetheunknownconstantangularmomentum.Anadaptivereactionlesscontrollerwasusedtopersistentlyexcitetherobotarm,whichguaranteedtheconvergenceofthealgorithmaswellasthestabilizationofbaseattitude.Simulationsresultsshowthatinertialparametersareaccuratelyidentifiedandtheangularvelocitiesofthebasearelessthan10-3,whichcanbeviewedasnearlyundisturbed.

Key words: uncooperativetarget, attitudestabilization, redundantdegreeoffreedom, inertiaparameteridentification, reactionnullspace, adaptivecontrol