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针对地面遥操作空间航天器进行交会的情况, 研究了变时延条件下遥操作交会逼近段的轨道控制问题. 利用根轨迹法分析了时延对遥操作交会控制的影响; 通过设计时延缓冲器, 将变时延系统转化成了定常时延系统; 基于相对轨道动力学方程建立了被控对象的预测模型, 利用Smith预测原理设计了定常时延下的多变量Smith预测器, 使得控制器与执行器的输入不受时延的影响; 同时采用模糊控制方法, 以消除模型不确定性等因素的影响; 最后, 利用半实物仿真系统开展仿真试验, 对本文所述方法进行了验证. 仿真结果表明, 通过采用带时延缓冲器的Smith模糊控制的方法, 能有效降低地面遥操作交会过程中变时延以及模型不确定性的影响, 提高交会成功率和精度.
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关键词:
- 遥操作交会 /
- Smith 模糊控制 /
- 变时延 /
- 时延补偿
The control methods of ground-based teleoperation rendezvous with variable time delay are surveyed. With the help of root locus method, the influences of time delay on the stability and performance of the control system are analyzed. Then, a time-delay compensator is designed to transfer the variable delay into a constant. A predictive model is established based on the relative dynamic equations. After that, a multivariable Smith predictor is designed based on the principle of Smith predictor, which makes the control input state variables independent of variable time delay. At the same time, the fuzzy control method is introduced to alleviate the uncertainties in the teleoperation rendezvous system. Finally, semi-physical simulations are carried out to verify the methods presented in this paper. Simulation results show that time-delay compensation and Smith-Fuzzy control are effective in alleviating the variable time delay and model uncertainties in the process of teleoperation rendezvous, and the success probability and control accuracy can be improved.-
Keywords:
- teleoperation rendezvous /
- Smith-fuzzy control /
- variable time delay /
- time-delay compensation
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[2] Li H Y, Luo Y Z, Zhang J, Tang G J 2010 Acta Astronaut. 66 439
[3] Keith E C 1989 AIAA 129
[4] Zhou J Y, Jiang Z C, Tang G J 2012 Sci. China Ser. G 55 339
[5] Thomas B S 1993 IEEE T. Robotic. Autom. 9 592
[6] Guo P, Hu H, Liu G R, Hu J D 2010 Acta Phys. Sin. 59 5925 (in Chinese) [郭鹏, 胡慧, 刘国荣, 胡俊达 2010 59 5925]
[7] Hokayem P F, Spong M W 2006 Automatica 42 2035
[8] Liu F C, Wang J, Shi M, Gao X W 2002 Acta Phys. Sin. 51 2707 (in Chinese) [刘福才, 王娟, 石淼, 高秀伟 2010 51 2707]
[9] Wen S H, Wang Z, Liu F C 2009 Acta Phys. Sin. 58 3753 (in Chinese) [温淑焕, 王哲, 刘福才 2009 58 3753]
[10] Smith O J 1959 ISA T. 6 28
[11] Rogelio L, Asok R 1990 Automatica 26 903
[12] Wang S H, Xu B G, Wang Q Y 2005 Proceedings of IEEE International Conference on Robotics and Biomimetics Hongkong, 2005, p664
[13] Li J R, Li H Y, Tang G J 2011 Sci. China Ser. E 54 1865
[14] Gao X, Liu X W 2007 Acta Phys. Sin. 56 84 (in Chinese) [高心, 刘兴文 2007 56 84]
[15] G X P, C C L, F Z P 2002 Acta Phys. Sin. 51 754 (in Chinese) [关新平, 陈彩莲, 范正平 2002 51 754]
[16] David K G 2007 J. Guid. Control Dynam. 30 974
[17] Luo Y Z, Liang L B, Wang H, Tang G J 2011 J. Guid. Control Dynam. 34 1264
[18] Du F 2008 Ph. D. Dissertation (Emei Mountain: Southwest Jiaotong University) (in Chinese) [杜锋 2008 博士学位论文 (峨眉山: 西南交通大学)]
[19] Kang B, Zhao Hong wei, Reng L L, Yan D M 2006 J. Jilin Univ. 24 42 (in Chinese) [康冰, 赵宏伟, 任丽莉, 闫冬梅 2006 吉林大学学报 24 42]
[20] Yu S Y, Chen X Y 2008 J. Central South Univ. 39 799 (in Chinese) [喻寿益, 陈学一 2008 中南大学学报 39 799]
[21] Huang C, Gui W H, Yang C H, Jiang Z H, Xie Y F 2010 Control Theory & Applications 27 1393 (in Chinese) [黄灿, 桂卫华, 阳春华, 蒋朝辉, 谢永芳 2010 控制理论与应用 27 1393]
[22] Tang G J, Luo Y Z, Li H Y 2006 Aerosp. Sci. Technol. 11 563
[23] Luo Y Z, Zhang J, Li H Y, Tang G J 2010 Acta Astronaut. 67 396
[24] Li J R, Tang G J, Li H Y 2010 J. Astronautics 31 774 (in Chinese) [李九人, 唐国金, 李海阳 2010 宇航学报 31 774]
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[1] Fehse W 2003 Automated rendezvous and docking of spacecraft (1st Ed.) (Cambridge: Cambridge University Press) p1
[2] Li H Y, Luo Y Z, Zhang J, Tang G J 2010 Acta Astronaut. 66 439
[3] Keith E C 1989 AIAA 129
[4] Zhou J Y, Jiang Z C, Tang G J 2012 Sci. China Ser. G 55 339
[5] Thomas B S 1993 IEEE T. Robotic. Autom. 9 592
[6] Guo P, Hu H, Liu G R, Hu J D 2010 Acta Phys. Sin. 59 5925 (in Chinese) [郭鹏, 胡慧, 刘国荣, 胡俊达 2010 59 5925]
[7] Hokayem P F, Spong M W 2006 Automatica 42 2035
[8] Liu F C, Wang J, Shi M, Gao X W 2002 Acta Phys. Sin. 51 2707 (in Chinese) [刘福才, 王娟, 石淼, 高秀伟 2010 51 2707]
[9] Wen S H, Wang Z, Liu F C 2009 Acta Phys. Sin. 58 3753 (in Chinese) [温淑焕, 王哲, 刘福才 2009 58 3753]
[10] Smith O J 1959 ISA T. 6 28
[11] Rogelio L, Asok R 1990 Automatica 26 903
[12] Wang S H, Xu B G, Wang Q Y 2005 Proceedings of IEEE International Conference on Robotics and Biomimetics Hongkong, 2005, p664
[13] Li J R, Li H Y, Tang G J 2011 Sci. China Ser. E 54 1865
[14] Gao X, Liu X W 2007 Acta Phys. Sin. 56 84 (in Chinese) [高心, 刘兴文 2007 56 84]
[15] G X P, C C L, F Z P 2002 Acta Phys. Sin. 51 754 (in Chinese) [关新平, 陈彩莲, 范正平 2002 51 754]
[16] David K G 2007 J. Guid. Control Dynam. 30 974
[17] Luo Y Z, Liang L B, Wang H, Tang G J 2011 J. Guid. Control Dynam. 34 1264
[18] Du F 2008 Ph. D. Dissertation (Emei Mountain: Southwest Jiaotong University) (in Chinese) [杜锋 2008 博士学位论文 (峨眉山: 西南交通大学)]
[19] Kang B, Zhao Hong wei, Reng L L, Yan D M 2006 J. Jilin Univ. 24 42 (in Chinese) [康冰, 赵宏伟, 任丽莉, 闫冬梅 2006 吉林大学学报 24 42]
[20] Yu S Y, Chen X Y 2008 J. Central South Univ. 39 799 (in Chinese) [喻寿益, 陈学一 2008 中南大学学报 39 799]
[21] Huang C, Gui W H, Yang C H, Jiang Z H, Xie Y F 2010 Control Theory & Applications 27 1393 (in Chinese) [黄灿, 桂卫华, 阳春华, 蒋朝辉, 谢永芳 2010 控制理论与应用 27 1393]
[22] Tang G J, Luo Y Z, Li H Y 2006 Aerosp. Sci. Technol. 11 563
[23] Luo Y Z, Zhang J, Li H Y, Tang G J 2010 Acta Astronaut. 67 396
[24] Li J R, Tang G J, Li H Y 2010 J. Astronautics 31 774 (in Chinese) [李九人, 唐国金, 李海阳 2010 宇航学报 31 774]
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