Research And Implementation Of An Aircraft Rendezvous And Docking Mission Algorithm

As the most concentrated high-tech field and the industry with the strongest spillover effect,space technology has always been a hot spot for people to study.In recent years,with the increasing complexity and variety of space missions,it is required that multiple spacecrafts collaborate to complete space missions in more and more scenes.For the multi-spacecrafts cooperative mission,the spacecraft's autonomous rendezvous and docking technology is a technology that needs to be focused on.For the spacecraft to have sufficient maneuverability,the safety of the docking operation must be considered in the rendezvous and docking mission.To reduce the complexity of the system and improve the robustness and security of the system,it is introduced that the hybrid controlling system idea to solve the problem in rendezvous and docking task planning in this thesis.First,the aircraft rendezvous and docking process is divided into the following four main phase: 1)Proximity Operations A;2)Proximity Operations B;3)docking phase;and 4)docked phase.Considering the orbital constraints under the two-body model,the relative dynamics model of the aircraft rendezvous and docking is established.A dynamic model based on angle-only measurement is derived and established.And a dynamic model based on angle and range measurement is established.Secondly,characterizing the family of individual controllers and the required properties which should be induced to the closed-loop system to solve the problem within each phase of operation.Designing a supervisor that robustly coordinates the individual controllers so as to provide a solution to the problem.Providing specific controller is designed to appropriately solve the control problems for individual phases and validate them numerically.Then,the rendezvous and docking tasks under 2DOF and 3DOF respectively are analyzed,and a robust control algorithm that satisfies the constraints of each stage is proposed in this thesis.The control algorithm under different constraints is simulated and verified in MATLAB.This hybrid control algorithm is implemented in the guidance,navigation and control flight software system.Then the obtained hybrid system is tested and verified in the high-fidelity simulation environment.Obtained planning trajectory is similar to the simulation result,and the rendezvous and docking task can be completed within the specified time.Finally,the security of the proposed rendezvous and docking hybrid algorithm is verified by using the typical verification platform of the hybrid system,such as C2E2,SDVTool and SpaceEx.A new supervised(hybrid)control algorithm for the autonomous rendezvous and docking of the aircraft is proposed in this thesis.Compared with the ground control switching or the predetermined control switching method used by the previous rendezvous and docking algorithm,the proposed algorithm can confirm the phase of the rendezvous and docking in real time according to the state of the aircraft,and automatically select the controller mode of the current phase.Experiments in high-fidelity environment show that the proposed hybrid control algorithm can operate the rendezvous and docking task in finite time.The experimental results of the hybrid system verification platform show that the hybrid control algorithm is safe and robust.