Research On The Key Technologies Of Teleoperatinonrendzvous And Docking

Rendzvous and docking,as one of the three basic technologies of manned spacecraft,is widely used in on-track assembling of large scale spacecraft,the supply of space station and work shifts of the space station staffs.Rendzvous and docking can be classified into three types:manual Rendzvous and docking,automatic rendzvous and docking and teleoperation Rendzvous and docking according to the different control strategies in translation approach section.Comparing with automatic Rendzvous and docking,teleoperation Rendzvous and docking has higher reliability and doesn't need the astronaut to control on the spot.So it is of great importance to do the research on teleoperation Rendzvous and docking.This paper has completed the establishment of dynamic model of the chasing vehicle and target vehicle,and taking the time delay in the communication link into consideration,put more concentration on the predictive display technology and shared control technology in order to improve the adaption to the time delay of the whole system and build the simulation platform to prove the theories above.The main content of this paper includes the following parts:First,this paper has analyzed the stress state of the chasing vehicle and the target vehicle,built T-H function and C-W function as the dynamic model in the inertial frame and orbit frame according to the different orbit hypotheses.In order to minimize the computational expense,the dynamic model has been simplified and the analysis and solution of the model error has been developed.Second,aiming at negative influence caused by the time delay in the communication link,the predictive display control strategy has been developed to improve the sensing capability to the remote environment for the operator,the accuracy of order and also the operation experience.The principle and the steps of predictive display technology has been analyzed according to the dynamic model established above,including the prediction of the states of chasing vehicle,the amendment of predictive model and the display on the software system.Third,a shared control strategy based on an in-out model reference adaptive controllerhas been developed and a weight distribution system based on fuzzy logic has been presented toexert the advantages of both automatic control and manned control,to make sure that they can control the chasing vehicle effectively and avoid the negative influences caused by the wrong order.Finally,the simulation platform has been built,the whole rendezvous and docking mission has been simulated to improve the accuracy of the theories put forward above.