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Inertia parameter identification of anunknown captured space target

Inertia parameter identification of anunknown captured space target The purpose of this paper is to present a method to obtain the inertia parameter of a captured unknown space target.Design/methodology/approachAn inertia parameter identification method is proposed in the post-capture scenario in this paper. This method is to resolve parameter identification with two steps: coarse estimation and precise estimation. In the coarse estimation step, all the robot arms are fixed and inertia tensor of the combined system is first calculated by the angular momentum conservation equation of the system. Then, inertia parameters of the unknown target are estimated using the least square method. Second, in the precise estimation step, the robot arms are controlled to move and then inertia parameters are once again estimated by optimization method. In the process of optimization, the coarse estimation results are used as an initial value.FindingsNumerical simulation results prove that the method presented in this paper is effective for identifying the inertia parameter of a captured unknown target.Practical implicationsThe presented method can also be applied to identify the inertia parameter of space robot.Originality/valueIn the classic momentum-based identification method, the linear momentum and angular momentum of system, both considered to be conserved, are used to identify the parameter of system. If the elliptical orbit in space is considered, the conservation of linear momentum is wrong. In this paper, an identification based on the conservation of angular momentum and dynamics is presented. Compared with the classic momentum-based method, this method can get a more accurate identification result. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Aircraft Engineering and Aerospace Technology Emerald Publishing

Inertia parameter identification of anunknown captured space target

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Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
1748-8842
DOI
10.1108/aeat-04-2018-0128
Publisher site
See Article on Publisher Site

Abstract

The purpose of this paper is to present a method to obtain the inertia parameter of a captured unknown space target.Design/methodology/approachAn inertia parameter identification method is proposed in the post-capture scenario in this paper. This method is to resolve parameter identification with two steps: coarse estimation and precise estimation. In the coarse estimation step, all the robot arms are fixed and inertia tensor of the combined system is first calculated by the angular momentum conservation equation of the system. Then, inertia parameters of the unknown target are estimated using the least square method. Second, in the precise estimation step, the robot arms are controlled to move and then inertia parameters are once again estimated by optimization method. In the process of optimization, the coarse estimation results are used as an initial value.FindingsNumerical simulation results prove that the method presented in this paper is effective for identifying the inertia parameter of a captured unknown target.Practical implicationsThe presented method can also be applied to identify the inertia parameter of space robot.Originality/valueIn the classic momentum-based identification method, the linear momentum and angular momentum of system, both considered to be conserved, are used to identify the parameter of system. If the elliptical orbit in space is considered, the conservation of linear momentum is wrong. In this paper, an identification based on the conservation of angular momentum and dynamics is presented. Compared with the classic momentum-based method, this method can get a more accurate identification result.

Journal

Aircraft Engineering and Aerospace TechnologyEmerald Publishing

Published: Aug 21, 2019

Keywords: Optimization; Space robot; Inertia parameters identification; Post-capture scenario; Unknown space target

References