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由于时延和测量、控制偏差的影响,环月轨道遥操作交会对接最终平移段的轨道控制面临诸多问题。针对这些问题,对遥操作交会对接共享控制策略进行研究。运用相对轨道动力学方程构造遥操作交会对接的数学模型,在此基础上推导时延条件下的预显示模型。在考虑可控边界的条件下构造对接安全走廊,提出基于改进人工势场的自控方法,势场函数将航天器与安全走廊的相对距离和逼近速度作为参考量。结合操纵人员的手动控制操作特性,推导共享控制的权重系数,形成共享控制策略。在九自由度遥操作交会对接半实物仿真平台开展仿真试验。仿真结果表明:相比于采用自动控制和手动控制方式而言,共享控制方式能有效克服时延的影响,显著提高环月轨道交会任务对接精度和成功率,改善环月轨道遥操作交会对接控制性能。
Due to the influence of time delay, measurement and control deviation, the orbital control of the lunar orbit teleoperation rendezvous and docking the final translating section faces many problems. In view of these problems, the telecontrol sharing control strategy is studied. The relative orbit dynamics equations are used to construct the mathematical model of rendezvous and docking rendezvous and docking, and then the pre-display model under the condition of delay is derived. Based on the consideration of controllable boundary conditions, a docking safety corridor is constructed and a self-control method based on improved artificial potential field is proposed. The potential field function takes the relative distance and approach speed of spacecraft and safety corridor as the reference values. Combined with the operator’s manual control operation characteristics, derive the weight coefficient of shared control and form a shared control strategy. In nine degrees of freedom teleoperation rendezvous and docking hardware simulation platform to carry out simulation tests. Simulation results show that compared with using automatic control and manual control, shared control can effectively overcome the impact of delay, significantly improve the accuracy and success rate of lunar orbit rail crossing mission docking, and improve the lunar and lunar orbit remote control rendezvous and docking control performance.