从ETS-Ⅶ到HTV--日本交会对接/停靠技术研究  

From ETS-Ⅶ to HTV:Study of Japanese Rendezvous and Docking/Berthing Technologies

作　　者：朱仁璋[1,2] 王鸿芳[1,3] 徐宇杰[2] 魏羽良[2] 

机构地区：[1]南京大学,南京210093 [2]北京航空航天大学,北京100191 [3]中国空间技术研究院,北京100094

出　　处：《航天器工程》2011年第4期6-31,共26页Spacecraft Engineering

摘　　要：日本工程试验卫星-7(ETS-Ⅶ)于1997年11月发射,成功完成在轨交会对接与空间自动机试验。ETS-Ⅶ使用GPS、激光交会雷达和邻近敏感器进行了2次V-bar与1次R-bar空间交会对接试验。空间自动机试验应用2m长的6自由度自动臂,试验项目包括卫星捕获与停靠,遥控操作,自动臂服务作业,以及卫星姿态与自动臂的协调控制。ETS-Ⅶ研发的技术在H-Ⅱ转移飞行器(HTV)飞行使命中得到应用。HTV是通往"国际空间站"的无人自动货运飞船系列,HTV-1与HTV-2分别于2009年9月与2011年1月发射。HTV执行自主R-bar逼近交会,并应用空间站遥控操作器系统进行捕获与停靠运作。空间站遥控操作器系统与日本实验舱遥控操作器系统的应用,使HTV在运送加压货物之外,还可大量运送不加压货物。HTV应用冗余技术以及诸如"故障检测、隔离与恢复"和使命中止控制的安全管理功能,可满足"1次故障保任务"和"2次故障保安全"的要求。The Japanese Engineering Test Satellite VII（ETS-Ⅶ） was launched in November 1997 to conduct the rendezvous docking（RVD） and space robot（RBT） technology experiments.Three RVD experiments（FP-1,FP-2 for V-bar approach,and FP-6 for R-bar approach） were carried out by ETS-Ⅶ,using Global Positioning System（GPS）,rendezvous radar（RVR）,and proximity sensor（PXS）.The RBT experiments with a 2 meter-long,6 DOF manipulator arm aim at developing the technology for the space robot on an unmanned spacecraft which can be teleoperated from a ground station.The RBT experiments include capture and berthing of a target satellite as well as teleoperation,robotic servicing tasks,and coordinated control of satellite attitude and robot arm.The technologies developed through the ETS-Ⅶ project have been applied to the H-ⅡTransfer Vehicle（HTV）.HTV-1 and HTV-2 were launched in September 2009 and in January 2011,respectively.HTV is an automated unmanned cargo transport system to the International Space Station（ISS）,performing R-bar approach and capture-berthing with the ISS robotics arm（SSRMS）.RBT technology also makes HTV have the ability to carry unpressurized cargo in addition to the pressurized cargo.As a visiting vehicle to manned ISS,HTV can meet the requirements of the one-fail operable（1FO） and two-fail safe（2FS）,using redundancy technology and safety management functions such as fault detection,isolation and recovery（FDIR） and mission abort control.

关 键 词：工程试验卫星-7 H-Ⅱ转移飞行器 交会对接 停靠 自动臂 

分 类 号：V526[航空宇航科学与技术—人机与环境工程]