本文選題：自主在軌服務(wù) + 自主交會對接　； 參考：《哈爾濱工業(yè)大學(xué)》2015年博士論文

【摘要】：隨著空間探索任務(wù)取得重大成功,自主在軌服務(wù)技術(shù)受到了廣泛關(guān)注。就成本效應(yīng)而言,對受損衛(wèi)星進行在軌維修具有潛在的節(jié)約效益。因此,對目標(biāo)航天器進行在軌維修、裝配、升級等具有重大意義。未來在軌服務(wù)任務(wù)需要航天器能夠自主執(zhí)行交會對接操作,甚至涉及對自由翻滾的失控航天器進行在軌服務(wù)。于是,與失控目標(biāo)進行自主交會對接控制成為必需解決的關(guān)鍵技術(shù)。本文主要研究了與自由翻滾目標(biāo)航天器進行自主交會對接過程的相對位姿耦合控制算法,深入討論了基于二階滑模算法的航天器對接端口間相對位姿耦合控制器設(shè)計方法。針對各控制器對不確定性和有界干擾的魯棒性、有限時間收斂特性以及抑制執(zhí)行機構(gòu)震顫效應(yīng)的能力進行分析與驗證。主要包括以下內(nèi)容:分析航天器對接端口間相對運動關(guān)系,總結(jié)出三種可行位置關(guān)系端口間的交會對接方式。以此為基礎(chǔ),考慮航天器相對旋轉(zhuǎn)運動對相對平移運動的耦合影響,建立航天器對接端口間相對位姿耦合動力學(xué)模型。分析出所建相對運動模型中各耦合項來源:航天器所受干擾力矩產(chǎn)生的動力學(xué)耦合;相對姿態(tài)四元數(shù)、相對姿態(tài)角速度與服務(wù)航天器絕對姿態(tài)角速度產(chǎn)生的運動學(xué)耦合。通過數(shù)學(xué)仿真,在開環(huán)無控制情況下驗證各耦合項對相對平動運動狀態(tài)的影響效果。利用MATLAB與STK接口程序?qū)崿F(xiàn)交會對接控制的可視化設(shè)計,并驗證三種對接方式的可行性、安全性和可靠性。為改善標(biāo)準(zhǔn)Twisting滑模算法的控制特性,以二階滑模平面設(shè)計改進的Twisting控制器。利用李雅普諾夫穩(wěn)定性理論分析其有限時間收斂特性,并給出計算收斂時間上界的方法。通過數(shù)學(xué)仿真,驗證所設(shè)計改進Twisting算法的控制特性。針對二階滑模算法對距離原點較遠有界干擾魯棒性較弱的問題,以兩種形式滑模平面分別設(shè)計含線性補償項的改進Twisting控制器。選取新的李雅普諾夫函數(shù)證明其有限時間收斂特性,同時得到收斂時間的上界。通過數(shù)學(xué)仿真,驗證其抑制距離原點較遠有界干擾的魯棒性;計算穩(wěn)態(tài)階段控制力與力矩絕對值沖量累積和來檢驗其減弱執(zhí)行機構(gòu)抖顫的效果。利用Super Twisting(ST)控制算法無需計算滑模變量對時間導(dǎo)數(shù)的特點,設(shè)計航天器對接端口間相對位姿耦合的ST控制器�；诶钛牌罩Z夫方法分析其有限時間收斂的特性,并計算收斂時間上界。通過數(shù)學(xué)仿真,驗證ST控制器的收斂特性以及對模型不確定性和距離原點較遠有界干擾的魯棒性。類似地,將ST算法與線性控制相結(jié)合來提高系統(tǒng)對距離原點較遠有界干擾的魯棒性。選取新的李雅普諾夫函數(shù)證明改進ST控制器仍然可以在有限時間內(nèi)收斂到平衡點,并計算出收斂時間上界。通過對比仿真,驗證閉環(huán)系統(tǒng)對參數(shù)不確定性及不同形式有界干擾作用的魯棒性,同時利用穩(wěn)態(tài)時控制力與力矩的絕對值沖量累積和檢驗其抑制執(zhí)行機構(gòu)震顫作用的能力。為了進一步提高二階滑�？刂破鲗嚯x原點較遠有界干擾的魯棒性,利用自適應(yīng)思想動態(tài)計算控制器的增益矩陣。針對已知上界有界干擾與未知上界有界干擾兩種情況,考慮模型參數(shù)不確定性以及相對導(dǎo)航誤差等因素,分別設(shè)計基于自適應(yīng)ST算法的航天器對接端口間相對位姿耦合控制器(記作AST1與AST2)。利用李雅普諾夫穩(wěn)定性理論證明其有限時間收斂到平衡點的特性,同時給出收斂時間上界的計算方法。通過數(shù)學(xué)仿真,驗證各控制器對不同形式有界干擾作用和模型參數(shù)不確定性的魯棒性,同時根據(jù)穩(wěn)態(tài)階段控制力與力矩絕對值沖量累積和證明其降低執(zhí)行機構(gòu)震顫的效果。通過對比可知:AST2在參數(shù)不變的情況下具有更廣泛的適應(yīng)性,對距離原點較遠有界干擾的魯棒性更強。
[Abstract]:With the great success of the space exploration task, the independent on orbit service technology has been widely concerned. As far as the cost effect is concerned, the maintenance of the damaged satellite in orbit is of potential saving benefit. Therefore, it is of great significance to carry out on orbit maintenance, assembly and upgrading of the target spacecraft. The master executes rendezvous and docking operations, and even involves in orbit services for free roll out of out of control spacecraft. Therefore, the control of autonomous rendezvous and docking with the runaway target becomes the key technology to be solved. This paper mainly studies the relative position and attitude control algorithm of the free rendezvous spacecraft in the autonomous rendezvous process. The design method of relative position and attitude coupling controller for spacecraft docking port based on the two order sliding mode algorithm is discussed. The robustness of the uncertainties and bounded disturbances, the finite time convergence and the ability to suppress the tremor effect of the actuator are analyzed and verified. The main contents are as follows: the analysis of the docking of spacecraft The relative motion relationship between ports is summarized, and the rendezvous and docking mode between three feasible positions is summarized. On this basis, considering the influence of the relative rotation motion of the spacecraft on the relative translational motion, a dynamic model of the relative position and posture coupling between the docking ports of the spacecraft is set up. The coupling sources in the relative motion model are analyzed. The dynamic coupling of the disturbance caused by the spacecraft, the relative attitude four elements, the relative attitude angular velocity and the kinematic coupling of the absolute attitude angular velocity of the service spacecraft. Through the mathematical simulation, the effects of the coupling items on the relative translational motion state are verified under the open loop uncontrolled condition. The MATLAB and the STK interface program are used. The visual design of the control of the rendezvous and docking (rendezvous and docking) is designed, and the feasibility, security and reliability of the three kinds of docking methods are verified. In order to improve the control characteristics of the standard Twisting sliding mode algorithm, the improved Twisting controller is designed with the two order sliding mode plane design. The finite time convergence characteristic of the method is analyzed by Lyapunov stability theory, and the convergence of the calculation is given. The method of time upper bound is used to verify the control characteristics of the improved Twisting algorithm by mathematical simulation. Aiming at the problem that the two order sliding mode algorithm has weak robustness to the far bounded disturbance in the distance origin, the improved Twisting controller with linear compensation terms is designed by the sliding mode plane in two forms. The new Lyapunov function is selected to prove the new Lyapunov function. The finite time convergence characteristic and the upper bound of the convergence time are obtained. Through mathematical simulation, the robustness of the far bounded disturbance is verified by the mathematical simulation. The effect of calculating the absolute value impulse of the control force and torque in the steady stage is calculated and the effect of reducing the tremor of the actuator is tested. The Super Twisting (ST) control algorithm does not need to calculate the sliding mode The characteristic of the variable to the time derivative is designed to design the relative position and pose coupling ST controller between the docking ports of the spacecraft. Based on the Li Yapu method, the characteristics of the finite time convergence are analyzed and the upper bound of the convergence time is calculated. Through the mathematical simulation, the convergence characteristics of the ST controller and the far bounded disturbance to the model uncertainty and the distance origin are verified. In the same way, the ST algorithm is combined with linear control to improve the robustness of the system to the far bounded disturbance. A new Lyapunov function is selected to prove that the improved ST controller can still converge to the equilibrium point in a limited time and calculate the convergence time. In order to further improve the robustness of the two order sliding mode controller to the far bounded disturbance, the adaptive thought dynamic calculation is used to further improve the robustness of the two order sliding mode controller to the far bounded disturbance of the distance origin. The gain matrix of the controller is used to design the relative position and attitude coupling controller (AST1 and AST2) for spacecraft docking port based on the uncertainties of the model parameters and relative navigation error, considering the two known upper bound bounded disturbance and the unknown upper bound interference, and the adaptive ST algorithm is designed to use Lyapunov stability. The theory proves that the finite time converges to the characteristic of the equilibrium point, and gives the calculation method of the upper bound of the convergence time. Through the mathematical simulation, the robustness of the controllers to different forms of bounded interference and model parameter uncertainty is verified. At the same time, the control of the absolute value of the control force and torque in the steady state is accumulated and its execution is proved to be reduced. The effect of mechanism tremor shows that AST2 has more extensive adaptability in the condition of constant parameters, and is more robust to distant and bounded disturbance.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：V448.2

【相似文獻】

相關(guān)期刊論文 前10條

1 陳雷;焦志剛;王鏡宇;王工;;一種零件位姿調(diào)整新方法的研究與應(yīng)用[J];沈陽理工大學(xué)學(xué)報;2005年04期

2 沙晶晶;陳志平;施滸立;呂興榮;;基于懸絲機構(gòu)的目標(biāo)飛行物位姿解算分析與實現(xiàn)[J];機械科學(xué)與技術(shù);2007年06期

3 龍宇峰;全R型彈性元件機器人手部位姿研究[J];南昌大學(xué)學(xué)報(工科版);1990年03期

4 王殿君;劉淑晶;任福君;王茁;孟慶鑫;;“穿地龍”機器人及其位姿檢測系統(tǒng)的研究[J];機械科學(xué)與技術(shù);2005年12期

5 劉偉;趙劍波;高峰;戚開誠;;基于相對坐標(biāo)的機器人末端位姿測量方法[J];機器人;2009年01期

6 王慧;許琢;;掘進機器人的位姿檢測與機體定位[J];制造業(yè)自動化;2013年08期

7 王超;張曉琳;唐文彥;王軍;馬強;;大尺寸箭彈質(zhì)量特性測量過程中位姿標(biāo)定方法研究[J];兵工學(xué)報;2014年01期

8 李繡峰,劉桂雄,謝存禧;一種機器人螺紋裝配位姿調(diào)整新方法的理論研究[J];機床與液壓;2000年01期

9 黃志剛;劉平安;;平面并聯(lián)微動平臺位姿檢測系統(tǒng)的研究[J];制造技術(shù)與機床;2010年03期

10 王金;;雙碼盤定位機器人的位姿辨識算法[J];硅谷;2010年12期

相關(guān)會議論文 前6條

1 沙晶晶;陳志平;施滸立;呂興榮;;基于懸絲機構(gòu)的目標(biāo)飛行物位姿解算分析與實現(xiàn)[A];2005年機械電子學(xué)學(xué)術(shù)會議論文集[C];2005年

2 吳勇;郝礦榮;丁永生;張淑平;;基于視覺位姿的機器人測速系統(tǒng)[A];第三屆中國智能計算大會論文集[C];2009年

3 葉榛;項安波;陶品;朱紹文;;基于PSD的動態(tài)位姿檢測技術(shù)[A];1998年中國智能自動化學(xué)術(shù)會議論文集（下冊）[C];1998年

4 郝穎明;朱楓;;視覺位姿測量中的點狀目標(biāo)中心自適應(yīng)定位方法[A];中國儀器儀表學(xué)會第九屆青年學(xué)術(shù)會議論文集[C];2007年

5 田原;董愛鋒;;一種攝像機和激光指向儀相對位姿標(biāo)定方法[A];煤礦自動化與信息化——第20屆全國煤礦自動化與信息化學(xué)術(shù)會議暨第2屆中國煤礦信息化與自動化高層論壇論文集[C];2010年

6 徐旭明;葉榛;張再興;王家^，

本文編號：1839658