遥操作交会对接轨道共享控制策略

Study on shared control of teleoperation rendezvous and docking

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 effect of time delay, control and measure error, it is hard to accurately control orbit motion in the final phase of ndezvous and docking. Thus the shared control strategy of teleoperation rendezvous and docking based on improved potential field function was udied. The motion model and predictive model based on the relative dynamics equations were established and the safe corridor in the controllable undary was designed. The automatic control approach was studied based on the improved potential field function which takes relative distance and eed with safe corridor as reference quantity. Control weighting coefficient of automatic and manual mode was then derived to form the shared ntrol strategy. The validation experiment was conducted on the nine-degree teleoperation rendezvous and docking semi-physical simulation atform. It is shown that, compared with the manual control mode and the automatic control mode, the shared control method can overcome the luence of time delay in the communication loop and effectively improve the rendezvous accuracy. Moreover, the control performance and success obability of teleoperation is proved to be enhanced.