空间操作中的灵巧飞行控制方法

Method of Dexterous Flight Control in Space Operation

空间操作中的灵巧飞行控制是指通过模仿生物的决策与运动方式,采用多种执行机构相互配合协调控制完成空间操作任务,在任务过程中能够进行实时决策且各项性能指标均能达到最优。文章引入灵巧控制的思想,提出了一种灵巧飞行控制方法。按照生物运动协调的方式,采用冗余执行机构各取所长协同配合,利用计算智能结合人类智慧完成对失效卫星的接近轨迹规划,实现抓捕过程中可达性、精准性、敏捷性、平顺性与鲁棒性的全优。采用神经网络完成对轨迹规划结果的学习,将规划和控制合二为一。对失效卫星的跟瞄、接近和捕获过程仿真表明:采用传统规划与控制方法的服务卫星无法在失效卫星状态突变时完成抓捕,而采用灵巧飞行控制方法的服务卫星,在失效卫星翻滚状态发生突变时能进行快速决策,成功对失效卫星进行捕获,且接近抓捕过程的性能指标比失效卫星翻滚状态未突变时几乎没有损失,从而验证了灵巧飞行控制方法的可行性和有效性。

Method of dexterous flight control is to accomplish a space operation task by imi-tating biological decision-making and moving method to coordinate redundant actuators to-gether so that real-time decision can be made and all kinds of performance indices can be optimized. Taking uncontrolled tumbling satellite on-orbit service as a typical case, different actuators are coordinated together to get all their advantages, the approaching trajectoriesare planned by combining computational intelligence and human intelligence, thus perform-ance indices including accessibility, accuracy, agility, smoothness and robustness are optimal. A series of artificial neural networks are used to learn from the planned trajectories in orderto combine plan and control into one procedure. The dexterous flight control method is proved to be practical and effective through simulations of aiming, approaching and capturingof an uncontrolled tumbling satellite. The approaching and capture of the uncontrolled tumb-ling satellite can be successfully achieved even the tumbling status of the uncontrolled satel-lite changes, with almost no loss on approach and capture performances compared to thecapture of uncontrolled satellite with unchanged tumbling status.