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首页> 外文期刊>Acta astronautica >Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay
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Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

机译：具有较大时延的月球航天器遥操作交会操作的共享控制

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摘要

Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the "nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.
机译：遥操作可用于太空在轨服务任务，例如物体去轨，航天器进近以及自动会合和对接备用系统。遥操作交会对接和进入月球轨道可能会遇到通信链路固有的时间延迟和传感器的有限测量精度的瓶颈。此外，鉴于部分通信覆盖问题，人为干预是不合适的。为了解决这些问题，详细介绍了远程交会和对接的共享控制策略。本文讨论了在最后阶段涉及两个航天器交会和对接的月球轨道操纵的控制权。建立了基于相对动力学方程的预测显示模型，以克服通信链路时延较大的影响。我们讨论并尝试通过一致的，基于地面的模拟来证明完全自主控制模式（即基于车载计算机），完全手动控制（即在地面站由人为驱动）和共享控制模式的相对优点。在“九自由度遥操作交会对接仿真平台”上进行了仿真实验。仿真结果表明，共享控制方法可以克服时延效应的影响。此外，共享控制方法的对接成功概率与自动和手动模式相比有所增强。

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