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中文摘要：
针对地面遥操作环月轨道航天器进行交会对接的情况,研究了大时延及复杂环境下的遥操作交会对接逼近段的轨道控制问题.结合月球轨道的力学特性,推导了环月轨道交会对接的相对动力学方程并建立了状态预测模型,利用测量信息对预测状态进行校正.基于人工势场理论,建立了人工势场函数,考虑时延和交会逼近过程中的安全性约束,设计了安全走廊和控制边界,并据此确定了人工势场的作用范围.通过状态预测,生成人工势场指令,将其与操作员的手控指令融合,形成了预测共享控制.最后,利用半实物仿真系统开展仿真试验,对文章所述方法进行了校验.仿真结果表明,采用人机联合的预测共享控制方法,能有效克服大时延及环境复杂多变的影响,抑制交会对接逼近过程中的轨迹发散,提高交会对接成功率和安全性.
英文摘要：
The problem of ground-based teleoperation rendezvous in lunar orbit with large time delay under the condition of complex environment is studied in this paper.A predictive model is established based on the relative dynamics equations,and the telemetry measurements are used to correct the predictive states.Considering the large time delay and safe approaching constrains,an artificial potential function is proposed based on the artificial potential field.The predictive states are utilized by the artificial potential model to produce repulsive forces,which are used to enhance the human control signal.At last,the validity of the proposed method is demonstrated by semi-physical simulation studies.Simulation results show that,the predictive shared control method is effective for alleviating the influence of time delay and complex environment,and the success probability and security can be improved.
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Two-level optimization approach for Mars orbital long-duration, large non-coplanar rendezvous phasin
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