遥操作交会对接概念与关键技术研究
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摘要
交会对接是实现航天器在轨组装、后勤补给,及载人航天器人员访问等空间操作的前提。空间站对交会对接的可靠性要求很高,一般需要两种互为备份的交会对接手段。目前我国具备自动交会对接和载人飞船的手动交会对接两种手段,但设计中的货运飞船等无人追踪器不能采用手动方式,需要发展新的交会对接手段。论文系统研究了遥操作交会对接概念、大时延条件下遥操作交会对接的预显示技术、共享控制技术,及遥操作交会对接地面原理验证系统等。主要研究工作如下：
阐述了遥操作交会对接的概念,并开展了概念研究。立足于我国载人航天工程的实际需求,阐述了遥操作交会对接概念,将遥操作交会对接划分为站-船遥操作交会对接和地-船遥操作交会对接两大类。基于SAPB (Systematic Approach of Pahl and Beitz)理论,开展了遥操作交会对接的任务分析和概念模型研究。建立了时延条件下遥操作交会对接的人控能力模型和逼近走廊模型,并结合任务需求、通信带宽约束和测控覆盖约束,对提出的概念模型进行了初步的分析与评价。结果显示,两种概念模型具有较好的工程可行性。
设计和研制了遥操作交会对接半实物原理验证系统,开展了系统的仿真试验研究。基于提出的遥操作交会对接概念模型,进行了地面原理验证系统设计,研制了遥操作交会对接的动力学与控制仿真软件、遥操作交会对接运动模拟平台等软硬件设备,并集成为半实物原理验证系统。利用该系统,开展了1600余次操作试验,对概念模型进行了定量的分析和验证。试验结果表明,两种概念模型可以较好地支持时延约6s以内的遥操作交会对接任务；操作者难以完成10s左右或更大时延的遥操作交会对接任务,概念模型对大时延的适应性不够,需要对概念模型进行改进。
基于交会对接动力学与控制模型,研究了遥操作交会对接预显示方法。为提升大时延条件下的控制能力,本文进一步引入了预显示方法。预显示方法可以提高操作员的遥现场感知能力,辅助其提高控制能力。基于C-W方程建立了预显示的仿真预测模型、预测误差传递模型和预测结果校正模型,并利用预显示对遥操作交会对接概念模型做了相应改进。基于半实物原理验证系统,开展了200余次的遥操作交会对接预显示试验。试验结果显示,预显示方法可以有效地提高大时延条件下的人控能力,有助于提高遥操作交会对接任务的成功率和安全性。
系统给出了遥操作交会对接共享控制的控制结构、模型和算法。针对概念模型对大时延的适应性不够问题,研究和利用共享控制技术改进遥操作交会对接的控制算法,增强遥操作交会对接的控制能力。提出了基于共享控制的遥操作交会对接控制结构,建立了共享控制权重模型等共享控制的相关模型。研究了综合考虑人控能力、时延因素、测量误差等的遥操作交会对接共享控制算法,并利用共享控制算法对遥操作交会对接概念模型进行了改进。基于半实物原理验证系统,开展了300余次操作试验。试验结果表明,共享控制方法可以提高大时延条件下遥操作交会对接的控制能力,降低操作员的操作负荷,且共享控制方法具有较好的变时延适应性。
论文对遥操作交会对接的概念和关键技术进行了较系统的研究,取得了一些有益的研究成果,给出的概念模型、共享控制算法、地面操作试验结果等,对分析遥操作交会对接特性等具有较好的参考价值,可作为未来遥操作交会对接进一步研究和工程应用的基础。
Rendezvous and docking (RVD) is the foundation of the space mission such as on-orbit assembly and the access of the astronaut to the manned spacecraft. There is only manual control approach available for the backup of the manned chaser's autonomous RVD currently. However, the unmanned chaser has no backup for its autonomous RVD as there is astronaut absence on board. The concepts of teleoperation RVD, which can be used as the backup of the autonomous RVD for the unmanned chaser, are proposed and studied in this dissertation. Also, the studies on the key techniques such as the predictive display approach and the shared control approach are presented too. The main results achieved are summarized as follows.
The concepts of teleoperation RVD are proposed and studied. The teleoperation RVD is divided into two modes according to the proposed concepts, i.e. the space station based teleoperation mode and the ground console based teleoperation mode. The conceptual models are designed based on the systematic approach of Pahl and Beitz (SAPB). In order to evaluate the designed models preliminarily, the models of the pilot handling quality and the approaching corridor with time delay are established. In addition, the constraints on the communication band width and communication time are analyzed. The evaluation results show that the proposed conceptual models would be practical and feasible.
The semi-physical validation system for teleoepration RVD is designed and developed, and systemic experiments are carried out upon this system for validation. The semi-physical validation system is designed according to the conceptual models firstly. Then, the elements of the system such as the dynamic simulator are developed and integrated together. Finally, more than1600experiments are carried out. The experimental results show that the conceptual models work well when the time delay is less than6s, and the control performance of them would be unsatisfactory when the time delay is larger than approximate10s.
Based on the dynamic models of the teleoperation RVD, the predictive display approach is studied. As the experimental results show that the control performance would be unsatisfactory with large time delay and the conceptual models need to be ameliorated. The predictive display approach is beneficial to improving the pilot's telepresence and handling quality. The predictive models and rectifying models are established first of all. The conceptual models are ameliorated according to the predictive display approach next that. Furthermore, more than200experiments are carried out for the validation of the approach and the improved conceptual models. The results demonstrate that the predictive display approach improves the pilot's handling quality, enhances the success rate and success safety of the teleoperation RVD tasks.
The control structure, models and algorithm of the shared control for teleoperation RVD is proposed and studied systemically. Shared control is another approved approach that can be used to overcome the time delay and improve the control performance in the area of teleoperation. The shared control structure for teleoperation RVD is proposed. Then, the shared control models such as the models of shared weight are studied, as well as the shared control algorithm. Besides, the conceptual models of teleoepration RVD are ameliorated according to the shared control models. Based on the developed semi-physical validation system, more than200experiments are carried out for the validation of the proposed algorithm and the improved conceptual models. The results demonstrate the effectiveness of the proposed algorithm. The shared control algorithm does improve the teleoperation RVD's control performance and its robustness to time delay.
This dissertation studies on the concept and key techniques of teleoepration RVD systemically. The achievements in this dissertation such as the conceptual models and the experimental results are valuable, and can be used as the reference for the advanced studies in the future.
阐述了遥操作交会对接的概念,并开展了概念研究。立足于我国载人航天工程的实际需求,阐述了遥操作交会对接概念,将遥操作交会对接划分为站-船遥操作交会对接和地-船遥操作交会对接两大类。基于SAPB (Systematic Approach of Pahl and Beitz)理论,开展了遥操作交会对接的任务分析和概念模型研究。建立了时延条件下遥操作交会对接的人控能力模型和逼近走廊模型,并结合任务需求、通信带宽约束和测控覆盖约束,对提出的概念模型进行了初步的分析与评价。结果显示,两种概念模型具有较好的工程可行性。
设计和研制了遥操作交会对接半实物原理验证系统,开展了系统的仿真试验研究。基于提出的遥操作交会对接概念模型,进行了地面原理验证系统设计,研制了遥操作交会对接的动力学与控制仿真软件、遥操作交会对接运动模拟平台等软硬件设备,并集成为半实物原理验证系统。利用该系统,开展了1600余次操作试验,对概念模型进行了定量的分析和验证。试验结果表明,两种概念模型可以较好地支持时延约6s以内的遥操作交会对接任务；操作者难以完成10s左右或更大时延的遥操作交会对接任务,概念模型对大时延的适应性不够,需要对概念模型进行改进。
基于交会对接动力学与控制模型,研究了遥操作交会对接预显示方法。为提升大时延条件下的控制能力,本文进一步引入了预显示方法。预显示方法可以提高操作员的遥现场感知能力,辅助其提高控制能力。基于C-W方程建立了预显示的仿真预测模型、预测误差传递模型和预测结果校正模型,并利用预显示对遥操作交会对接概念模型做了相应改进。基于半实物原理验证系统,开展了200余次的遥操作交会对接预显示试验。试验结果显示,预显示方法可以有效地提高大时延条件下的人控能力,有助于提高遥操作交会对接任务的成功率和安全性。
系统给出了遥操作交会对接共享控制的控制结构、模型和算法。针对概念模型对大时延的适应性不够问题,研究和利用共享控制技术改进遥操作交会对接的控制算法,增强遥操作交会对接的控制能力。提出了基于共享控制的遥操作交会对接控制结构,建立了共享控制权重模型等共享控制的相关模型。研究了综合考虑人控能力、时延因素、测量误差等的遥操作交会对接共享控制算法,并利用共享控制算法对遥操作交会对接概念模型进行了改进。基于半实物原理验证系统,开展了300余次操作试验。试验结果表明,共享控制方法可以提高大时延条件下遥操作交会对接的控制能力,降低操作员的操作负荷,且共享控制方法具有较好的变时延适应性。
论文对遥操作交会对接的概念和关键技术进行了较系统的研究,取得了一些有益的研究成果,给出的概念模型、共享控制算法、地面操作试验结果等,对分析遥操作交会对接特性等具有较好的参考价值,可作为未来遥操作交会对接进一步研究和工程应用的基础。
Rendezvous and docking (RVD) is the foundation of the space mission such as on-orbit assembly and the access of the astronaut to the manned spacecraft. There is only manual control approach available for the backup of the manned chaser's autonomous RVD currently. However, the unmanned chaser has no backup for its autonomous RVD as there is astronaut absence on board. The concepts of teleoperation RVD, which can be used as the backup of the autonomous RVD for the unmanned chaser, are proposed and studied in this dissertation. Also, the studies on the key techniques such as the predictive display approach and the shared control approach are presented too. The main results achieved are summarized as follows.
The concepts of teleoperation RVD are proposed and studied. The teleoperation RVD is divided into two modes according to the proposed concepts, i.e. the space station based teleoperation mode and the ground console based teleoperation mode. The conceptual models are designed based on the systematic approach of Pahl and Beitz (SAPB). In order to evaluate the designed models preliminarily, the models of the pilot handling quality and the approaching corridor with time delay are established. In addition, the constraints on the communication band width and communication time are analyzed. The evaluation results show that the proposed conceptual models would be practical and feasible.
The semi-physical validation system for teleoepration RVD is designed and developed, and systemic experiments are carried out upon this system for validation. The semi-physical validation system is designed according to the conceptual models firstly. Then, the elements of the system such as the dynamic simulator are developed and integrated together. Finally, more than1600experiments are carried out. The experimental results show that the conceptual models work well when the time delay is less than6s, and the control performance of them would be unsatisfactory when the time delay is larger than approximate10s.
Based on the dynamic models of the teleoperation RVD, the predictive display approach is studied. As the experimental results show that the control performance would be unsatisfactory with large time delay and the conceptual models need to be ameliorated. The predictive display approach is beneficial to improving the pilot's telepresence and handling quality. The predictive models and rectifying models are established first of all. The conceptual models are ameliorated according to the predictive display approach next that. Furthermore, more than200experiments are carried out for the validation of the approach and the improved conceptual models. The results demonstrate that the predictive display approach improves the pilot's handling quality, enhances the success rate and success safety of the teleoperation RVD tasks.
The control structure, models and algorithm of the shared control for teleoperation RVD is proposed and studied systemically. Shared control is another approved approach that can be used to overcome the time delay and improve the control performance in the area of teleoperation. The shared control structure for teleoperation RVD is proposed. Then, the shared control models such as the models of shared weight are studied, as well as the shared control algorithm. Besides, the conceptual models of teleoepration RVD are ameliorated according to the shared control models. Based on the developed semi-physical validation system, more than200experiments are carried out for the validation of the proposed algorithm and the improved conceptual models. The results demonstrate the effectiveness of the proposed algorithm. The shared control algorithm does improve the teleoperation RVD's control performance and its robustness to time delay.
This dissertation studies on the concept and key techniques of teleoepration RVD systemically. The achievements in this dissertation such as the conceptual models and the experimental results are valuable, and can be used as the reference for the advanced studies in the future.
引文
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