遥操作交会中时延影响的仿真试验研究

Research on the Effects of Time Delay in Teleoperation Rendezvous

遥操作交会对接可作为未来我国空间站无人追踪器自动交会对接系统的备份手段;也可用于空间非合作目标的交会和对接,具有广泛的应用前景。首先简要介绍了遥操作交会对接的概念,分析了遥操作交会对接的主要问题。其次,设计和研制了遥操作交会对接半实物仿真系统。最后基于研制的半实物仿真系统开展了900组操作试验,重点对遥操作交会对接的时延影响进行分析。试验结果显示,6s时延条件下,遥操作交会对接的成功率仍可达到92.7%;遥操作交会对接具有较高的任务成功率,可进一步开展研究,并考虑应用于工程实践。

Teleoperation rendezvous and docking （RVD） technology is a technology that the pilot operates a chaser spacecraft at a distance to achieve rendezvous and docking task. It can be used as the backup approach of the automation RVD on the purpose of ensuring the space station＇s construction and resupplying. It can also be used in the field of uncooperative space targets＇ RVD. A survey of researches on the teleoperation RVD worldwide in recent years is presented at first. Secondly, the design and development of a semi-physical simulation system for teleoperation RVD operations is analyzed in details. Finally, total 900 times of operations by 18 volunteers are carried out on the semi- physical simulation system for analyzing the time delay. The results demonstrate that the success rate is 92.7% even under the time delay of 6 seconds and the teleoperation RVD is advisable in the practical project.