Design And Implementation Of Physical Unit For Teleoperation Rendezvous And Docking Simulation System

Teleoperation rendezvous and docking(TRVD) technology, as an important backup approach for the autonomous rendezvous and docking(RVD) of unmanned spacecraft such as cargo vehicles, is able to enhance the success of RVD missions. The researches on the TRVD simulation are of great significance for China's aerospace engineering. This dissertation studies the design and implementation of the TRVD simulation on system physical unit. The main achievements obtained are summarized as follows.The overall design of physical unit is proposed. Both functional requirements and performance requirements of TRVD simulation system physical unit are analysed. Overall design of the physical unit is carried out, including the design of its composition, connection between hardware devices, data streams of simulation system, as well as the development and runtime environment.The control program for the 9 degrees of freedom relative motion platform is developed. The structure and characteristics of the 9 degrees of freedom relative motion platform, which consists of a four-degree freedom and a five-degree freedom, is studied. Furthermore, the Transmission Control Protocal(TCP) communication interface is designed to enable the connection between systems through the Ethernet.The control panel sche me for TRVD is proposed, and the DSP Printed Circuit Board to acquire the data information of the control panel is designed and developed. The manipulating control sticks are designed according to the manned vehicles, and the layout of control panel is designed based on the engineering requirements of TRVD in the future. The messages of pressing button and manipulating control sticks are acquired throngh the chip of TMS320F2810, and the interface program are developed.The simulation scheme of one single high definition came ra instead of both wide field came ra and narrow field came ra is proposed, and the cameras on the chaser vehicle are simulated successfully. The choice of the self- focusing camera with zoom is be made. Then the experiment and the validation of the field of the camera are done. Taking advantages of Open CV, which is the open source image processing library, processing images and superimposing upon the white marking lines are achieved. Finally, the video images are compressed to JPEG(Joint Photographic Experts Group), transferred through the Ethernet, decompressed and displayed on moniter in the control panel.Finally, the design and implementation of physical unit for teleoperation rendezvous and docking simulation system achieves the expect goals. The physical unit is applied in the researches of TRVD technology. It also can be used as the basic platform for the advanced studies in the future.