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Basic Research on the Soft-Docking System in Space

空间软对接系统基础研究

基本信息

批准号：
01460161
负责人：
SUZUKI Masayuki
金额：
$ 2.18万
依托单位：
Nagoya University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (B)
财政年份：
1989
资助国家：
日本
起止时间：
1989 至 1990
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-01460161/
关键词：
Docking Soft docking Attenuation Compliance Shock absorber 特異摂動法

项目摘要

The purpose of this research is an experimental study of the soft docking technique which is an important problem for the activities of space vehicles in space and orbit. The following works are executed during two years 1989-1990.1. An equipment for one dimensional soft docking system experiment is designed and constructed. which has an electromechanical docking actuator, an air lifting device for the movement of docking target and an ultra sonic range sensor system. A software is developed to control this experimental equipment.2. Many kinds of fundamental experiments are done to obtain basic data of soft docking system.3. For the matching phase of docking process before the capture of target, a design method of control strategy is presented in order to obtain simultaneous reduction of both relative velocity and distance of two docking objects.4. For the attenuation phase of docking process after the capture of target, several kinds of control system design method is investigated for an electro mechanical shock absorber, among them are the constant force attenuation method, spring-damper attenuation method, LQ optimal control attenuation method, frequency weighted LQG method, and adaptive compliance control method.5. Detailed analysis and numerical simulation is executed for design of control system for the experimental docking system. One dimensional docking experiments are done for the verification of control system design methods developed in this research.

软对接技术是空间飞行器在空间和轨道上活动的一个重要问题，本研究的目的是对软对接技术进行实验研究。1989- 1990两年期间进行了下列工程。设计并搭建了一套一维软对接系统实验装置。其具有机电对接致动器、用于移动对接目标的空气提升装置和超声波距离传感器系统。开发了控制该实验装置的软件.进行了各种基础实验，为软对接系统的设计提供了基础数据.针对对接过程中目标捕获前的匹配阶段，提出了一种控制策略的设计方法，以实现对接物体相对速度和距离的同时减小.针对捕获目标后对接过程的衰减阶段，研究了机电减振器控制系统的几种设计方法，其中包括恒力衰减法、弹簧-阻尼器衰减法、LQ最优控制衰减法、频率加权LQG法和自适应柔度控制法.对实验对接系统的控制系统设计进行了详细的分析和数值仿真。为验证本文所提出的控制系统设计方法，进行了一维对接实验。