航天器集群控制与规划算法仿真验证平台设计  

Design of Simulation Verification Platform for Spacecraft Cluster Control and Planning Algorithm

作　　者：高雅 夏红伟[1] 马广程[1] 李旭东 孙浩然 马长波 GAO Ya;XIA Hongwei;MA Guangcheng;LI Xudong;SUN Haoran;MA Changbo(Aerospace Institute, Harbin Institute of Technology, Harbin, 150001;Shanghai Aerospace Control Technology Institute, Shanghai, 201109)

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001 [2]上海航天控制技术研究所,上海201109

出　　处：《飞控与探测》2021年第4期66-73,共8页Flight Control & Detection

基　　金：国家自然科学基金青年项目(61304108)。

摘　　要：航天器集群作为一种新兴的多航天器协同模式,已经成为分布式空间系统的一个重要研究课题。很多关于航天器集群的关键技术需要在地面进行仿真、分析和验证。针对上述需求,设计了一种仿真验证平台,在地面实现了对航天器智能集群导航、规划与控制算法的全物理分析和验证。首先,给出了仿真验证平台的几种位姿识别方案,重点分析了一种基于单目相机的全局位姿识别技术,提出了一种基于气浮技术的航天器集群控制与规划算法仿真验证平台的总体设计方案,并定义了集群的运动场行为函数,设计了基于滑模控制的路径规划算法。最后,通过仿真验证了本方法的可行性和有效性。As an emerging multi-spacecraft coordination mode,spacecraft clusters have become an important research topic of distributed space systems.Many key technologies need to be simulated,analyzed and verified on the ground.In response to the above requirements,this paper designs a simulation verification platform to realize full physical analysis and verification of spacecraft intelligent cluster navigation,planning and control algorithms on the ground.First,several pose recognition schemes of the simulation verification platform are given,a global pose recognition technology is analyzed based on a monocular camera,and an overall design scheme of a simulation verification platform for spacecraft cluster control technology is proposed based on air flotation technology.Secondly,the sports field behavior function of the cluster is defined,and a path planning algorithm based on sliding mode control is designed.Finally,simulation experiments verify the feasibility and effectiveness of the method in this paper.

关 键 词：集群控制 全物理仿真 图像识别 气浮机器人 滑模控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计]