月球轨道对接与样品转移机构控制系统设计与实现

Design and Implementation of Control System for Lunar Orbit Docking and Sample Transfer Mechanism

月球轨道对接与样品转移是嫦娥五号探测器月面无人采样返回任务的关键环节,在有限的测控、重量和功耗等资源下实现对接与样品转移机构的控制是难点。提出了一种基于单片机+现场可编程门阵列(FPGA)架构的控制器设计,建立了机构模型,给出了分段自适应位置单环控制算法及仿真结果。地面研制试验及飞行验证结果表明:该控制器圆满完成了任务目标,其设计、实现和应用也为未来小型对接机构控制系统设计提供了技术参考。

Docking and sample transfer on the lunar orbit are the key links in the unmanned lunar sample return mission of the Chang’e-5 probe.It is difficult to realize the control of docking and sample transfer mechanism with limited resources such as measurement and control,weight,and power consumption.In this paper,a controller design based on the single-chip microcontroller+field programmable gate array(FPGA)architecture is proposed,a mechanism model is established,and a segmented adaptive position single-loop control algorithm and the simulation results are given.The results of ground development test and flight verification show that the controller has successfully completed the mission goal,and its design,realization,and application also provide a technical reference for the design of small docking mechanism control systems in the future.