天舟货运飞船人控遥操作交会对接设计与验证  

Design and Verification of Manual Teleoperation Rendezvous and Docking of China’s Tianzhou Cargo Spaceship

作　　者：王曦 郝慧[2] 安晶 石磊[2] 李皖玲[1] 廖海玲 陈翔 杨胜 WANG Xi;HAO Hui;AN Jing;SHI Lei;LI Wanling;LIAO Hailing;CHEN Xiang;YANG Sheng(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;Beijing Institute of Control Engineering,Beijing 100094,China;China Astronaut Research and Training Center,Beijing 100094,China;Beijing Aerospace Control Center,Beijing 100094,China)

机构地区：[1]北京空间飞行器总体设计部,北京100094 [2]北京控制工程研究所,北京100094 [3]中国航天员科研训练中心,北京100094 [4]北京航天飞行控制中心,北京100094

出　　处：《宇航学报》2024年第8期1189-1204,共16页Journal of Astronautics

摘　　要：人控遥操作交会对接(RVD)是无人航天器与空间站自动交会对接的备份手段,提高了交会对接的可靠性与安全性。面向天舟货运飞船与天宫空间站,运用系统工程方法设计并验证了航天员遥操作交会对接与分离撤离功能,主要创新点包括:针对遥操作系统时延大的问题,采取精简系统信息主回路传输环节等措施,将系统总时延控制在1 s以内;针对船站近距离安全性的内在需求,提出了以安全性为核心、以状态转移图为工具的应急飞行方案设计方法,构建了飞行方案体系;针对遥操作交会对接系统复杂、大系统接口多的特点,提出了基于功能验证需求与地面验证条件匹配矩阵的系统级综合试验设计方法,构建了地面验证体系;针对交会灯功率不足导致阴影区远距离不能识别目标的问题,提出了空间站舱外泛光灯主动发光为主、交会对接敏感器合作目标被动反光为辅的方案。天舟二号货运飞船与天和核心舱在神舟十三号乘组操控下,圆满完成了遥操作交会对接与分离撤离在轨试验。Manual teleoperation rendezvous and docking(RVD)can serve as a contingency measure for autonomous RVD to approach unmanned spacecraft at a space station,aiming to enhance RVD reliability and safety.The functionality of manual teleoperation has been tailored specifically for use with both the Tianzhou Cargo Spaceship and the Tiangong Space Station.Given significant time delays,a system design addressing time delay control has been developed and validated using 9-degree-of-freedom hardware-in-the-loop simulations.Recognizing insufficient illumination from rendezvous lights over long distances or in shadowed areas,it is proposed that extravehicular floodlight is applied as target,and confirmed through close-range rendezvous tests.Furthermore,an emergency protocol along with an in-orbit testing plan have been devised based on designing switch relationships between manual teleoperation and automatic control systems.Notably,successful completion of manual teleoperation RVD in-orbit testing was achieved by the Tianzhou-2 Cargo Spaceship and the Tianhe Core Module under guidance from the Shenzhou-13 crew.

关 键 词：天舟货运飞船 天宫空间站 遥操作 交会对接 时延 九自由度半物理仿真 

分 类 号：V526[航空宇航科学与技术—人机与环境工程]