Capture Strategy and Control of Non-cooperative Target Using Space Manipulator with Magnetic Capture Device

In this paper, a space manipulator with a magnetic capture device as the end-effector is designed, and it is used to capture a self-spin target. First of all, a kinematic equation and a dynamic equation are given, then a target approach strategy for the manipulator combined with fifth-order polynomial interpolation methods for trajectory planning is designed, and then an improved PD algorithm is adopted to achieve the trajectory tracking control. For the magnetic capture device, its suction model is established through experimental fitting, and a capture strategy is set according to its characteristics. Finally, a numerical simulation is designed to prove that the control strategy designed in this paper is reasonable and effective.

I. Introduction

At present, a large number of satellites become non-cooperative targets due to on-orbit failures or ending of tasks [1]. They not only occupy orbit resources, but also threaten other spacecrafts [2]. By the end of 2021, more than 80% of on-orbit satellites in space are low-orbit satellites [3], which is the reason to develop deorbit technology specially for low-orbit satellites. At present, the deorbit technology of low-orbit satellites mainly includes several technical ideas such as drag augmentation system, solar radiation force, electrodynamic tether, contactless removal methods and capture methods [4]. Compared with other deorbit methods, capture deorbit has been noticed for a long time, so there are lots of research concentrate on it, that’s why this deorbit method is more reliable. At present, this technology has been divided into two different branches: flexible connection capture and stiff connection capture [5]. In these two branches, stiff connection capture has been preferred by researchers for its high flexibility and convenience for ground experiment.