Control And Ground Experiment Of Close-range Rendezvous And Docking Of Spacecraft Based On Two-dimensional Model

With the continuous exploration,development and utilization to outer space,spacecraft rendezvous and docking technology is playing a key role in fuel supplying,maintenance,on-orbit assembling and other fields.The research on dynamics,control and ground experiment of rendezvous and docking can provide technical support and theoretical reference for the development of space engineering.This dissertation studies the dynamics modeling and control of a close-range two-dimensional rendezvous and docking mission.Numerical analysis and ground experiment are presented to verify the effectiveness of guidance algorithm.In addition,the corresponding electromagnetic docking mechanisms are designed.The contents of this dissertation are as follows.1.A controller is designed based on the potential function by considering a collision avoidance constraint with a quasi-rectangle obstacle and a safe docking area constraint with a heart-shaped target spacecraft.The effectiveness of the controller is verified by numerical simulation.2.Optimal control method is exploited to plan the rendezvous and docking maneuver,which takes into account constraints,such as force,velocity,field of view and collision avoidance constraint with a diamond obstacle.The optimal trajectories are obtained by symplectic algorithm and taken as the reference trajectories.A tracking control method based on the PD control is proposed to realize feedback control in real-time.3.Considering the main requirements of the docking mechanism,two electromagnetic docking mechanisms are designed.The first one is a three-dimensional electromagnetic docking mechanism which can achieve locking/unlocking repeatedly.It can not only avoid the consumption of propellant and the pollution of plume,but also theoretically control the impact velocity to zero.Another simple mechanism is applied to the ground experiment which can realize the docking and locking between a chaser simulator and a target simulator.4.Based on the granite air-bearing platform,a two-dimensional experimental system is built,and two simulators are designed with simple electromagnetic docking mechanism.The effectiveness of potential controller and PD tracking controller is verified by ground experiments.