Research On Control Method And Safety Of Lunar Orbiter Teleoperation Fly-around And Docking

Lunar orbit unmanned spacecraft rendezvous and docking will be implemented in China's Lunar Exploration in the future.Teleoperation rendezvous technology is of great significance to ensure the safety and success of unmanned spacecraft rendezvous mission.However,current work mainly focus on the final approach phase of spacecraft rendezvous mission,there are certain limitations.This paper extends the study from the final approach phase to the fly-around phase of spacecraft rendezvous mission,the problems of control strategy and trajectory safety on lunar orbiter teleoperation fly-around and docking are studied.The main work of this paper is as follows:The nominal control strategy applied to the fly-around phase in lunar orbiter teleoperation fly-around and docking is designed.The concept of teleoperation fly-around and docking is proposed,and the orbit control properties of the spacecraft at fly-around phase are analyzed,then,combined with the designed method for operator`s estimation of the spacecraft relative motion,the nominal operation strategy is designed.At last,human in the loop experiments are carried out for validation.A predictive display approach for teleoperation fly-around and docking is designed to diminish the influence of time delay.The algorithms of relative position and inertial attitude prediction are designed based on the dynamic models of spacecraft.Then,the correction algorithm for deviation of relative state is designed based on filtering algorithm,the display method of spacecraft`s predictive state information is designed combine with human`s operation property.At last,the experiments are carried out for validation.The passive safety performance for Teleoperation fly-around trajectory based on the nominal control strategy is studied.Refer to the theory of trajectory passive safety and spacecraft`s collision probability,a method is firstly designed to evaluate the passive safety performance of spacecraft`s theoretic trajectory at the fly-around phase.Then the method for teleoperation fly-around trajectory is designed.At last,the simulation analysis and suggestions are proposed to enhance safety of the nominal control strategy.In this paper,some progress is made in the research of teleoperation fly-around and docking,and the results are helpful for the research of Teleoperation rendezvous control and safety.