基于超二次曲线障碍描述的航天器交会对接地面实验研究  

GROUND-BASED EXPERIMENT ON SPACECRAFT RENDEZVOUS AND DOCKING USING SUPERQUADRIC CURVE FOR OBSTACLE REPRESENTATION

作　　者：徐兴念 文浩[1] 韦正涛 Xu Xingnian;Wen Hao;Wei Zhengtao(State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics,29 Yudao Street,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机械结构力学及控制国家重点实验室,南京210016

出　　处：《动力学与控制学报》2020年第2期42-49,共8页Journal of Dynamics and Control

基　　金：国家自然科学基金重点资助项目(11832005)。

摘　　要：航天器交会对接技术是众多空间任务得以开展的关键性技术,在进行空间在轨飞行任务之前,需开展相应的地面实验研究.首先,基于二维交会对接模型,提出了一种基于势函数法的交会对接控制方法.其次,考虑与类矩形障碍物的避撞约束以及与心形目标航天器的安全对接区域约束,并采用超二次曲线去描述该障碍物外形.然后,基于花岗岩气浮平台搭建了二维交会对接地面实验系统,设计了航天器气浮模拟器以及电磁对接机构,并开展了交会对接地面实验研究.实验结果表明了所搭建实验系统的可行性,同时也验证了所提出交会对接控制方法的有效性.Rendezvous and docking between spacecrafts are key operation for many space missions.It is necessary to perform ground-based experiment before space missions.In this paper,based on the model of two-dimensional rendezvous and docking,a guidance method using the idea of potential function was presented.A quasi-rectangle obstacle constraint described by superquadratic curves and a safety docking area constraint of the target spacecraft with heart-shaped curve were considered.Then,a ground-based experiment system was built,and two simulators and an electromagnetic docking mechanism were developed.The experimental results showed the feasibility of the experimental system and the effectiveness of the guidance method.

关 键 词：交会对接 人工势函数法 地面实验 超二次曲线 

分 类 号：V526[航空宇航科学与技术—人机与环境工程]