空间翻滚目标同步飞行微分几何建模与快速鲁棒控制研究

Spacecraft on-orbit service and maintenance technology is an important direction for the development of aerospace science and technology, and it is also one of the "Science and Technology Innovation 2030 - Major Projects" planned by China. However, there are few studies on the dynamics modeling and autonomous control of synchronous flight for the tumbling target, and the existing research results are difficult to support the urgent need for tumbling target on-orbit service and maintenance. To this end, this study intends to deeply study the high-precision attitude-orbit coupling modeling method suitable for synchronous flight of tumbling targets, and utilize the superiority of differential geometry theory in relative motion modeling to solve the drawbacks of existing modeling methods, such as relying on target motion parameters and complicated model coupling. Then, the problem of synchronous flight control for tumbling target is studied. Considering the system uncertainties and external disturbances, a fast and robust control method is designed for synchronous flight with the characterized points of a tumbling target. Further, under the multiple constraints of safe collision avoidance, limited control output and tracking field of view, a new autonomous and safe control method for close-range proximity of tumbling targets is studied. This study aims to solve the basic scientific problems such as high-precision attitude-orbit coupling modeling, fast and robust synchronous flight controller design and autonomous safety proximity to tumbling target. The research results will provide necessary theoretical basis and technical support for the tumbling target on-orbit service and maintenance tasks.

航天器在轨服务与维护技术是航天科技发展的重要方向，也是我国计划实施的“科技创新2030—重大项目”之一。但目前关于翻滚目标同步飞行动力学建模与控制的研究较少，且现有研究成果难以支撑翻滚目标在轨服务与维护的迫切需求。为此，本项目将深入研究适合于翻滚目标同步飞行的姿轨耦合建模方法，利用微分几何理论在相对运动建模方面的优势，解决现有建模方法依赖目标运动参数、模型耦合因素多等不足；在此基础上，研究翻滚目标位姿同步跟踪控制问题，考虑实际控制中的不确定性、外部扰动等因素，设计面向翻滚目标特征点的快速鲁棒同步飞行控制方法；进一步，在安全避撞、控制输出受限、跟踪视场等多约束条件下，研究翻滚目标近距离自主、安全接近控制新方法。本项目旨在解决翻滚目标在轨服务面临的高精度姿轨耦合建模、快速鲁棒同步飞行与自主安全接近等共性基础科学问题。研究成果将为我国翻滚目标在轨服务任务提供必要的理论依据和技术支撑。

翻滚目标同步飞行动力学建模与控制是遂行航天器在轨服务与维护的基础。然而，目标动态强时变状态、不确定性与外部干扰将严重影响动力学建模及控制的性能。不依赖目标轨道参数的动力学建模与快速鲁棒控制已成为航天器在轨服务与维护控制领域的研究热点之一。本项目围绕“不依赖目标轨道参数的翻滚目标高精度姿轨耦合建模”与“翻滚目标安全接近路径多约束、多目标在线优化方法”两大关键科学问题，聚焦不依赖目标轨道参数的翻滚目标高精度姿轨耦合建模方法、面向翻滚目标任意特征点同步飞行的快速鲁棒控制方法、多约束多目标条件下翻滚目标安全接近控制方法共三大研究内容，进行了较为深入的研究，提出了一系列新方法，结合半物理仿真平台对所提出的理论方法和技术进行了有效性验证，并进一步研制载荷实现了在轨成功应用于3个卫星型号，基本实现了所有既定的研究目标，研究成果将为提升航天器在轨服务与维护控制能力提供理论支撑。项目负责人获省部级科技奖励一等奖1项，入选北京市科技新星计划创新新星人才计划，获中国航天基金会航天贡献奖。