大型柔性航天器在轨自主组装动力学与控制研究

The project focuses on a combined theoretical and experimental investigation on the dynamics and control of on-orbit autonomous assembly of large flexible spacecrafts from the perspective of rigid-flexible coupling multibody dynamics, collision-free path planning, motion and vibration control and ground-based experiments. The major studies of the project include: coordinated autonomous assemly path planning of multi-components using the method of potential fields, accounting for control saturation, collision avoidance and parameter optimization; time-optimal and fuel-optimal path planning research based the methods of pseudospectral discretization and nonlinear programming, accounting for the constraints of collision avoidance,states and controls; motion and vibration control research for autonomous assembly process, accounting for the effects of variable parameters, external disturbance and mission-related constraints; motion and vibration control research for the autonomous assembly mission with cooperative multi-robots; design a ground-based experimental system and accomplish the development of hardware and software for the system, ground-based experimental verification of the dynamics and control research for on-orbit autonomous assembly. The aims and objectives of the research are to develop numerical and ground-based experimental technoloy for research verification, develop coordinated and efficient algorithms for collision-free path planning, reveal the complex dynamical behaviour due to autonoumous assembly control and rigid-flexile dynamics coupling, find robust schemes for motion and vibration control of autonomous assemly process, and privide technoloy critical to the application and development of large space structure in our country.

从刚-柔耦合动力学建模、防碰撞路径规划、运动及振动控制和地面实验仿真的角度，开展大型柔性航天器在轨自主组装的动力学与控制研究。主要内容包括：考虑输入饱和约束、防碰撞以及参数优化等需求，开展基于人工势函数的路径规划研究；针对时间、燃料等任务优化需求，实现状态、控制及防碰撞约束下的最优路径规划；计入参数改变、外扰力以及任务约束影响，设计自主组装运动和振动控制律；针对多机器人组装任务，开展协作组装控制研究；地面模拟实验系统设计及软硬件技术研究；自主组装动力学及控制的地面实验验证。通过本项目的研究，旨在发展在轨自主组装的高精度数值和地面实验验证技术，揭示由自主组装控制和刚柔耦合效应导致的复杂动力学行为，获取协调、高效的防碰撞路径规划算法，实现自主组装运动及柔性振动的可靠控制，为我国大型空间结构系统的发展提供关键理论和技术支撑。

大型柔性航天器在轨自主组装是一项具有独特优势和巨大潜力的前沿空间技术。本项目综合采用理论分析、数值计算和地面模拟实验方法，开展了大型柔性航天器在轨自主组装动力学与控制研究。已按计划开展项目研究，主要成果如下：建立了在轨自主组装系统的刚柔耦合动力学模型，发展了空间桁架、充气管、螺栓连接结构的建模分析方法；考虑柔性部件运送任务，设计了基于无源控制原理的航天器避障机动控制律；针对多柔性航天器在轨组装及避撞控制问题，提出了避撞输出一致组装控制律以及基于人工势函数的组装控制律；发展了单柔性航天器的近时间最优控制和多目标优化控制方法，设计了多柔性航天器的分布式有限时间控制器和分布式自适应跟踪控制器；针对双航天器运送柔性件问题，基于能量整形和阻尼注入思想设计了控制器；提出了基于高阶扰动观测器的柔性臂边界控制律和基于变速控制力矩陀螺的非奇异模型预测控制律；建立了柔性航天器在轨自主组装地面模拟实验系统，对多柔性航天器避撞及输出一致控制律和基于人工势场的组装控制律进行了地面模拟实验验证。本课题研究结果为大型柔性航天器在轨自主组装动力学建模/分析、振动/运动控制提供了新的理论和技术。