高安全性环月轨道遥操作交会人机联合共享控制

项目名称： 高安全性环月轨道遥操作交会人机联合共享控制

项目编号： No.11472301

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： 唐国金

作者单位： 中国人民解放军国防科技大学

项目金额： 90万元

中文摘要： 我国嫦娥三期探测任务要进行月球采样返回，需在环月轨道进行航天器的交会。为了提高无人探测器环月轨道交会的成功率和安全性，地面操作人员可利用遥操作技术实施环月轨道交会任务。本项目以环月轨道交会为背景，研究复杂力学环境及变化大时延下具有高安全性的遥操作交会控制方法。引入Smith预估原理，分析地月遥操作回路中的时延产生机理，结合精确动力学模型，推导高精度状态预测算法；揭示人控能力随时延变化的理论模型，考虑时延等特殊因素，研究人在回路的遥操作交会安全性评估方法；基于安全性评估和人工势场理论，研究人机在环月轨道遥操作交会中的权重分配，提出共享控制方法；研制环月轨道遥操作交会半实物仿真系统，并开展地面操作实验，对所建模型中的关键参数进行辨识，对所提方法进行验证。项目研究将形成环月轨道遥操作交会安全控制的理论与方法体系，研究成果对我国探月工程、载人登月及深空探测等空间活动具有重要理论意义和实践价值。

中文关键词： 环月轨道；遥操作；交会；安全性；共享控制

英文摘要： The rendezvous on lunar orbit are needed in the third phase of ChangE lunar exploration missions, in which the collecting samples should be carried back by the landing module. In order to enhance the success rate and the security of the missions, the operator in the ground could control the exploration spacecrafts for RVD on lunar orbit by teleoperation technologies. With the background of the rendezvous on lunar orbit, this project studies the control method of teleoperation rendezvous with complex dynamic environment and large time delay. The generating mechanism of delay is analyzed, with the high pricision dynamic model, the state predictive method is studied; the pilot handling theoretical model is established, then, in consider of special factors as time delay, the safety evaluation of teleoperation rendezvous with human in the loop is studied. After that, the weight assignment of human and machine in the control progress is studied, and the shared control method is proposed based on the Artificial Potential Function. A semi-physical simulation system of the teleoperation RVD on lunar orbit is developed and the ground operation experiments are executed for the parameter identification of the established models and the validation of the proposed algorithms. This project will form the theoretical and methodological systems about the safe control of teleoperation rendezvous in lunar orbit. The research achievements have theoretical and practical significances for the projects of lunar exploration, manned lunar, and deep space exploration in the future.

英文关键词： Lunar Orbit;Teleoperation;Rendezvous;Safety;Shared Control