| Rendezvous and docking (RVD) is the foundation of the space mission such as on-orbit assembly and the access of the astronaut to the manned spacecraft. There is only manual control approach available for the backup of the manned chaser’s autonomous RVD currently. However, the unmanned chaser has no backup for its autonomous RVD as there is astronaut absence on board. The concepts of teleoperation RVD, which can be used as the backup of the autonomous RVD for the unmanned chaser, are proposed and studied in this dissertation. Also, the studies on the key techniques such as the predictive display approach and the shared control approach are presented too. The main results achieved are summarized as follows.The concepts of teleoperation RVD are proposed and studied. The teleoperation RVD is divided into two modes according to the proposed concepts, i.e. the space station based teleoperation mode and the ground console based teleoperation mode. The conceptual models are designed based on the systematic approach of Pahl and Beitz (SAPB). In order to evaluate the designed models preliminarily, the models of the pilot handling quality and the approaching corridor with time delay are established. In addition, the constraints on the communication band width and communication time are analyzed. The evaluation results show that the proposed conceptual models would be practical and feasible.The semi-physical validation system for teleoepration RVD is designed and developed, and systemic experiments are carried out upon this system for validation. The semi-physical validation system is designed according to the conceptual models firstly. Then, the elements of the system such as the dynamic simulator are developed and integrated together. Finally, more than1600experiments are carried out. The experimental results show that the conceptual models work well when the time delay is less than6s, and the control performance of them would be unsatisfactory when the time delay is larger than approximate10s.Based on the dynamic models of the teleoperation RVD, the predictive display approach is studied. As the experimental results show that the control performance would be unsatisfactory with large time delay and the conceptual models need to be ameliorated. The predictive display approach is beneficial to improving the pilot’s telepresence and handling quality. The predictive models and rectifying models are established first of all. The conceptual models are ameliorated according to the predictive display approach next that. Furthermore, more than200experiments are carried out for the validation of the approach and the improved conceptual models. The results demonstrate that the predictive display approach improves the pilot’s handling quality, enhances the success rate and success safety of the teleoperation RVD tasks.The control structure, models and algorithm of the shared control for teleoperation RVD is proposed and studied systemically. Shared control is another approved approach that can be used to overcome the time delay and improve the control performance in the area of teleoperation. The shared control structure for teleoperation RVD is proposed. Then, the shared control models such as the models of shared weight are studied, as well as the shared control algorithm. Besides, the conceptual models of teleoepration RVD are ameliorated according to the shared control models. Based on the developed semi-physical validation system, more than200experiments are carried out for the validation of the proposed algorithm and the improved conceptual models. The results demonstrate the effectiveness of the proposed algorithm. The shared control algorithm does improve the teleoperation RVD’s control performance and its robustness to time delay.This dissertation studies on the concept and key techniques of teleoepration RVD systemically. The achievements in this dissertation such as the conceptual models and the experimental results are valuable, and can be used as the reference for the advanced studies in the future. |
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