Study On Shared Control And Handling Qualities Evaluation Of Teleoperation Rendezvous And Docking With Varied Time Delay In Lunar Orbit

Rendezvous and docking technology is an important supporting technology for spacecraft assembly,transportation and freight supply.For the unmanned spacecraft rendezvous mission in the lunar orbit,the technology of teleoperation rendezvous can be back up for the automatic rendezvous and docking technology.Taking China's future lunar exploration activities in orbit unmanned rendezvous and docking as the background,this paper studies on the technology of teleoperation rendezvous and docking in the approach phase.The main research work of this paper is summarized as follows:A predictive dis play method based on time varying delay blanking predictive correction model is presented.First,the time delay model of teleoperation communication loop is established,and the time-varying delay blanking method is introduceed.Then,the simulation method for spacecraft relative motion prediction is proposed based on the relative orbit dynamics model.Finally,the simulation experiment were conducted on the semi-physical simulation system.The simulation results show that the method can effectively overcome the influence of time delay and improve the precision of the system.The shared control method of teleoperation rendezvous based on modified artificial potential field theory is studied.In order to solve the problem of teleoperation rendezvous under the condition of time delay,a control algorithm based on shared control technology is proposed to reduce the control burden and improve the control precision.First,the control structure of teleoperation rendezvous is designed,and the shared control mode is established.The safety corridor of teleoperation rendezvous is constructed,and a dynamic calculation model based on modified artificial potential field theory is put forward.Then,the simulation experiment were conducted on the semi-physical simulation system.The results show that the shared control method can significantly improve the control ability of the teleoperation controller and improve the accuracy of teleoperation rendezvous.The human control model of teleoperation re nde zvous and docking based on fuzzy control theory is established.The operation characteristics of teleoperation rendezvous and docking is simulated.The establishment of teleoperation rendezvous human control model make the digital simulation of teleoperation come true,which can overcome the influence of subjective factors,and can be used to analyze the influence of single parameter.Based on the analysis of the dynamic characteristics of the relative orbit and the characteristics of the operation strategy.On this basis,the X axis,Y axis and Z axis human control models are designed by the fuzzy control theory.The simulation experiment were conducted on the semi-physical simulation system.The results showed that the human control model can simulate the actual operation behavior,task time and fuel consumption with high accuracy.The handling qualitiy evaluation method of teleoperation rendezvous and docking system is designed.The handing quality evaluation of the system runs through the key link of the system development.It is of great significance for the development,design and performance improvement of the system.The experiment principle,experiment goal and way to pick up evaluation pilots were introduced,as well as the matrix for different variables.The C-H evaluation index,NASA-TLX index and Beford index was selected as the evaluation index of teleoperation system for rendezvous and docking handling qualities evaluation.The handling quality level was achieved based on the teleoperation rendezvous and docking experiment.The varied time delay teleoperation rendezvous is studied in this paper.The method proposed and the conclusions obtained in this paper will be of some reference value for the future lunar orbit rendezvous in our country.