基于螺旋理论的空间近距离相对运动建模方法与姿轨耦合控制研究

项目名称： 基于螺旋理论的空间近距离相对运动建模方法与姿轨耦合控制研究

项目编号： No.11472213

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 数理科学和化学

项目作者： 朱战霞

作者单位： 西北工业大学

项目金额： 75万元

中文摘要： 空间相对运动的姿轨协同精准控制是近距离复杂操作的核心，也是制约空间操作技术发展的瓶颈。传统的姿轨分开建模串行控制方法，没有考虑姿轨耦合且不能实现协同控制。现有的姿轨联合控制方法，基于向量代数建模，无法实现轨道和姿态模型的统一，过程繁琐，形式复杂，使控制系统设计难度加大。因此需要探寻新的建模和控制方法。螺旋理论将刚体转动和平移运动整合起来并用统一的形式表述，为用一种简洁数学语言描述空间相对运动提供了可能。为此，本项目提出基于螺旋理论的空间近距离相对运动建模新思路。通过研究航天器相对运动的新型参数描述方式，建立其与螺旋运动的内在联系，形成新的建模方法，构建形式简洁统一且考虑耦合的相对运动姿轨动力学先进模型；基于新模型研究相对姿轨耦合特性，揭示耦合机理和物理本质，提出并设计考虑模型强耦合和非线性特性的相对姿轨协同精确控制方法和策略，为实现空间近距离复杂精准操作任务奠定理论基础。

中文关键词： 螺旋理论；相对运动；空间操作；姿轨耦合；建模与控制

英文摘要： A precise control of space relative motion is the key of Complex Proximity Operation (CPO),and also is the bottleneck of space operation technology. Traditionally, the relative position and attitude are modeled and controlled separately, couplings between them are rarely considered and the precise cooperative control can't be realized. Recently, a lot researches have made great efforts. They developed various coupled dynamic model of six degree of freedom and control law based on different methods, especially modeling based on the vector algebra forms,in which the translational motion and rotational motion are described inconsistently, and the coupled models are complicated, leading to a difficulty for control law design. So it is engaged to find better method to model the couplings dynamics with simple forms. As the screw theory gives an integrated expression of the translational and rotational motion, it provides a possibility to use simple mathbase to discribe space relative motion. So in this project,we proposed a new modeling method based on screw theory to get coupling model.Our main work is as follows. The interior connection between the screw motion and the relative motion of the spacecraft will be established with the new parameters.Then the coupling dynamic model of relative translational and rotational motion will be modeled and simplified and unified by the new method. Considering the strong-coupling and non-linear characteristics of the coupling dynamic model, a precise cooperative control method will be carefully designed. From all these works, the theoretical groundwork of autonomous, fast and high-precise CPO techniques is expected to be built.

英文关键词： screw theory;relative motion;space operation;orbital and attitude couple;modeling and control