在轨服务航天器多载荷空间操控制导与控制研究

On-orbit servicing mission, including the on-orbit maintenance and repair, space debris removing and space-based offense and defense, through cooperative work of multiple payloads, has become an important active research of space technology nowadays. Facing so many challenges in space manipulation requirements for on-orbit servicing spacecraft, this research will study the key problems of guidance and control in the whole process, including approximation and fly-by, cooperative capture, flight of combined bodies. Detail research contents include (1). Considering the cross-coupling of attitude and orbit control, the nonlinear relative dynamics under multiple constraints is expected to set up for on-orbit servicing spacecraft and target spacecraft. A generalized attitude and orbit coupling guidance and control theory will be proposed. (2). Revealing the influence mechanism from the complex motion characteristic of target spacecraft to the controller system. Taking into consideration of multiple constrains, such as the limited thrust, we will establish the fuel optimal trajectory optimization and robust tracking control strategy for on-orbit servicing spacecraft. (3).Combining the characteristic of homogeneous or heterogeneous payloads, we will construct the cooperative capture structure, and then propose distributed cooperative tracking capture control theory for multiple payloads based on multi-agent systems. (4). We will establish a evaluation mechanism to determine whether the combined body can be controlled by the actuators from the spacecraft, and then put forward the application of non-model control theory for application. The project aims to establish an independent, reliable, precise, low fuel-consumption and complete multiple payloads cooperative space control framework, and the research results will provide new ideas and new methods on orbit servicing major projects for China in the future.

通过多载荷协同工作，实现如航天器维护与维修、碎片清理和天基攻防等在内的在轨服务任务成为航天技术发展的重要方向。针对在轨服务航天器空间操控任务面临的诸多挑战，本课题分别开展逼近及绕飞、协同捕获、组合体飞行等全过程的制导与控制关键问题研究：(1) 建立在轨服务航天器与目标航天器姿轨耦合非线性多约束相对动力学表征，提出通用的多约束姿轨耦合一体化制导与控制方法；(2) 揭示目标复杂运动特性对控制系统影响机理，建立有限推力下航天器多约束燃料最优轨迹优化及鲁棒跟踪控制策略；(3) 结合载荷特性，建立同构/异构多载荷协同捕获体系，提出基于多智能体系统的多载荷分布式协同跟踪捕获方法；(4) 建立复杂连接情况下的组合体可控预测评估机制，提出复杂连接情况下组合体无模型控制方案。项目旨在建立一套自主、可靠、精确、低耗、完备的多载荷协同空间操控框架体系，研究成果将为我国未来的在轨服务重大工程提供新思路、新方法。

应我国未来对在轨维修与维护、空间攻防、碎片清除等在轨服务任务和空间操控任务日益复杂性、多样性、自主性等多种需求的提高，本项目系统地研究了在轨操控任务全过程的制导与控制理论难题，分别针对在轨服务航天器逼近及绕飞段、多载荷协同捕获段、组合体在轨飞行段开展系统深入研究，形成了兼具理论创新性和工程应用价值的新成果，构建了完整的在轨操控制导与控制理论框架体系。.本课题完成的主要内容包括：.1.建立了在轨服务航天器与目标航天器姿轨耦合非线性多约束相对动力学表征，提出通用的多约束姿轨耦合一体化制导与控制方法；.2.揭示了目标复杂运动特性对控制系统影响机理，建立有限推力下航天器多约束燃料最优轨迹优化理论方法，提出不确定非线性鲁棒跟踪控制策略；.3.建立了多载荷分布式协同捕获体系，提出了多载荷分布式一致跟踪捕获控制理论；..在本基金的资助下，项目组在国内外权威期刊和会议上共发表论文50余篇。论文发表在IEEEtrans系列、AIAA系列期刊和自动化学报、深空探测学报等国内外优秀期刊上。在项目的资助下，项目团队成员赴国外参加国际权威会议8次；直接培养博士和硕士研究生9名。..本项目面向国家“十三五”将要开展的重大工程的直接需求，拟解决从国际科技前沿需求中凝练的科学问题入手，研究过程中充分发挥高校的基础理论研究特色，并结合与国内航天科研院所的合作平台优势，共同攻克在轨操控任务中所需的一系列关键技术，为推动我国在轨服务、天基攻防等重大工程提供理论基础