Guidance And Control For Autonomous Rendezvous And Docking Of Spacecraft

Autonomous rendezvous and docking (AR&D) of spacecraft is the precondition for achieving many advanced space missions, such as on orbit assembly, maintenance, exchange and re-supply of material, and visitation of crew. It is the key technology that should be settled for subsequent missions of manned aerospace engineering. For the purpose of cooperating with the great engineering programs, such as manned aerospace, space station built, and moon exploration, and providing theoretical basis and technological accumulation for future AR&D of our country, the guidance and control of relational phases and problems in the series of far and near of AR&D is researched in this dissertation under the background of the 863 national high technology research and development program of China in terms of the current and future technology requirement of AR&D.Firstly, the fuel-time optimal orbital transfer with two impulses is researched. The two impulses orbital transfer problem of undetermined transfer point and rendezvous point is described detailedly. Then, the transformation of Lambert theorem equations is introduced and derived by variable substitution. It is also combined with the improved genetic algorithms for designing the optimal calculating process of fuel-time optimization. There is no verbose and complicated calculation in the proposed method. Lastly, the validity and effectiveness of the designed approaches are demonstrated by simulations under different conditions, by which the features of fuel-time optimization are validated and analyzed.Secondly, the guidance for dynamic obstacle avoidance of the close range rendezvous with a non-cooperative target is researched. The guidance with relative velocity for dynamic obstacle avoidance is designed by composition of fuzzy control and Gaussian function under a non-cooperative target condition. Then, the artificial potential function guidance (APFG) is used for this object. The characteristics and limitations of APFG with different relative movement directions are analyzed and summarized after the detailed stability analysis and provement. And then, to overcome the limitations, the guidance composed of APFG and fuzzy logic control is designed, which resolves the dynamic obstacle avoidance with relative velocity information. Lastly, the validity and effectiveness of the designed approaches are demonstrated by simulation results.Thirdly, the guidance for safe approaching constrain (SAC) of the close range rendezvous with a non-cooperative target is researched. Still under the non-cooperative target condition, a SAC based elliptic cissoid and relevant APFG are designed, which insures that the chaser approaches the target with in the final approaching corridor (FAC) under certain condition of initial relative position. And then, a SAC with sphere and cone shape and relevant guidance composed of APFG and fuzzy logic control are designed, which insures that the safety of the approaching trajectory with any initial relative directions of the chaser that approaches the target within the FAC eventually. The stabilities of the systems under the designed controls are analyzed and proved. Lastly, the simulation results demonstrate the validity and effectiveness of the approaches.Finally, the cooperative control for relative orbit and attitude of close range rendezvous with a non-cooperative target is researched. Still under the non-cooperative target condition, the disturb moment which results from an error between the guidance acceleration acting point and center of mass of the chaser spacecraft is analyzed in the coupled relative orbital and attitude problem, and the model is established. And then, the guidance for relative movement of the spacecrafts with sliding surface is designed. The robust attitude following control with the ideas of variable structure control with sliding surface and adaptive fuzzy control is designed for eliminating the chattering of the state variables. In addition, the system stabilities are all analyzed and proved, and simulation results demonstrate the validity and effectiveness of the designed approaches. It means that the cooperative control for relative orbit and attitude under cybernetics is resolved. Lastly, an animation demonstrates the movement process by putting the data of the simulations into the visual environment simulation system. And the problem that the designed attitude control cooperates with the proposed previous guidance is discussed.