国防科技大学学报2017，Vol.39Issue(1)：17-23,7.DOI:10.11887/j.cn.201701004
遥操作交会对接轨道共享控制策略
Study on shared control of teleoperation rendezvous and docking
摘要
Abstract
Due to the effect of time delay, control and measure error, it is hard to accurately control orbit motion in the final phase of rendezvous and docking.Thus the shared control strategy of teleoperation rendezvous and docking based on improved potential field function was studied.The motion model and predictive model based on the relative dynamics equations were established and the safe corridor in the controllable boundary was designed.The automatic control approach was studied based on the improved potential field function which takes relative distance and speed with safe corridor as reference quantity.Control weighting coefficient of automatic and manual mode was then derived to form the shared control strategy.The validation experiment was conducted on the nine-degree teleoperation rendezvous and docking semi-physical simulation platform.It is shown that, compared with the manual control mode and the automatic control mode, the shared control method can overcome the influence of time delay in the communication loop and effectively improve the rendezvous accuracy.Moreover, the control performance and success probability of teleoperation is proved to be enhanced.关键词
共享控制/遥操作交会对接/手动控制/改进人工势场法/共享控制权重系数Key words
shared control/teleoperation rendezvous and docking/manual control/improved potential field function/shared control weighting coefficient分类
航空航天引用本文复制引用
张亚坤,李海阳,李涛..遥操作交会对接轨道共享控制策略[J].国防科技大学学报,2017,39(1):17-23,7.基金项目
国家自然科学基金资助项目(11472301) （11472301）
国家973计划资助项目(2013CB733100) （2013CB733100）
