›› 2010, Vol. 30 ›› Issue (6): 39-48.

• 技术交流 • 上一篇    下一篇

非合作自主交会对接的动态障碍物躲避制导

宋申民, 张大伟, 裴润   

  1. (哈尔滨工业大学航天学院,哈尔滨 150001)
  • 收稿日期:2010-03-22 修回日期:2010-06-03 出版日期:2010-12-25 发布日期:2010-12-25
  • 通讯作者:  张大伟 现为哈尔滨工业大学控制科学与工程系在读博士研究生。 E-mail:davidthink@163.com
  • 作者简介:宋申民 1968年生,1996年获得哈尔滨工业大学控制科学与工程专业博士学位,教授、博士生导师。研究方向为卫星编队控制,智能优化与控制。 张大伟 1980年生,现为哈尔滨工业大学控制科学与工程系在读博士研究生。研究方向为航天器制导与控制。

Guidance for Dynamic Obstacle Avoidance of Autonomous Rendezvous and Docking with Non-Cooperative Target

 SONG  Shen-Min, ZHANG  Da-Wei, PEI  Run   

  1. (School of Astronautics, Harbin Institute of Technology, Harbin 150001)
  • Received:2010-03-22 Revised:2010-06-03 Online:2010-12-25 Published:2010-12-25

摘要: 首先,在视线坐标系下建立了系统相对运动状态方程,将人工势函数制导方法应用于航天器的非合作自主交会对接任务和动态障碍物躲避问题。其次,利用Lyapunov稳定性理论分析证明了在该制导方法控制下系统的稳定性,并且研究讨论了两种不同情形下的动态障碍物躲避效果,分析了人工势函数制导方法的应用能力。最后,用精确的数学模型进行了数值仿真,验证了制导方法应用于所研究问题的正确性和有效性。

关键词: 自主交会对接, 人工势函数制导, 非合作目标, 动态障碍物躲避, 航天器

Abstract: Firstly, the relative motion state equations were described in line of sight coordinate frame. And the artificial potential function guidance was used for autonomous rendezvous and docking  with a non-cooperative target spacecraft and dynamic obstacle avoidance missions. Then, mission of autonomous rendezvous and docking with the non-cooperative target was accomplished and dynamic obstacle avoidance was studied by potential function guidance. Secondly, the stability of the method was analyzed and proved by Lyapunov theory, and the effects of two different dynamic obstacle avoidances were studied and discussed. Meanwhile, the capability of potential function guidance was analyzed. Finally, the numerical simulation results based on a precise mathematic model demonstrate the validity and effectiveness of the proposed guidance method.

Key words: Autonomous rendezvous and docking, Artificial potential function guidance, Non-cooperative target, Dynamic obstacle avoidance, Spacecraft