航天器姿态滑模变结构控制系统的设计

给出了航天器三轴动力学和四元数姿态运动学方程。在分析滑模变结构控制的基本原理和设计方法的基础上，通过二次型最优法解出航天器姿态角速度与姿态角之间的函数关系，进而得到滑动平面。在此基础上，应用滑模变结构控制方法对航天器姿态控制系统进行了设计和仿真，并与PID控制系统进行了分析比较。仿真结果表明，滑模控制系统具有良好的动态品质和稳态性能，体现了变结构控制的突出优点，对系统摄动和外加干扰具有极强的鲁棒性和自适应性。     

非合作失效航天器绳系拖曳系统研究

空间碎片的不断增加给人类航天活动的开展和在轨资产的安全造成严重威胁。在已经提出的多种空间碎片主动清除方式中,绳系拖曳（tethered space tug,TST）系统因有较好的应用前景而受到广泛关注。部分失效航天器因星上器件损坏且姿态控制系统异常,始终将姿态维持在某一特定指向,针对此类具有典型的非合作特征的大型空间碎片,开展绳系拖曳动力学与控制研究。将拖船和目标均视作刚体,用牛顿法建立了TST系统的动力学模型;根据目标姿态稳定方式分为自旋稳定和三轴稳定两种情况,开展了绳系拖曳动力学分析与控制设计,并考察了系绳在失效航天器表面连接点位置对系统稳定状态的影响。仿真结果表明,拖船和失效航天器会在系绳连接下表现出抗衡特点,最终系统会稳定在不同的均衡状态附近。此研究为安全清除尚有残余姿态控制能力的失效航天器中相关拖曳动力学与控制问题提供了参考。     

一种通过观测两颗恒星确定飞行器姿态的算法

本文介绍了通过固联安装在飞行器本体上的星跟踪器观测两颗恒星,确定飞行器姿态的一种算法,建立了相应的坐标系,推导了恒星观测角与描述飞行器姿态的四元数之间的关系。     

An intercomparison of meteor radar measurements at the South Pole using two different processing systems

A new meteor radar system was installed at the Amundsen–Scott station South Pole in 2001 to further the understanding of the dynamics of the Antarctic region. The antenna array consists of four yagis pointed along the 0°, 90°, 180°, and 270° meridians and five folded crossed dipoles arranged in a cross configuration and operating as an interferometer to provide position measurements for the detected radio meteors. The four yagis are time division multiplexed and used for both transmitting and receiving while the five folded crossed dipoles are only used for reception. The current arrangement of data acquisition (DAQ) systems at the South Pole allows the collection of meteors in a configuration similar to the previous meteor radar system that operated at the South Pole in the mid 1990s while also using an interferometer to accurately determine the meteor positions in the sky, which enables the determination of the vertical structure of the observed waves. This has been accomplished through the use of two DAQ and post-processing systems: COBRA (Colorado Obninsk radar) connected to the yagis and MEDAC (meteor echo detection and collection) connected to the folded crossed dipoles. With two separate DAQ systems operating in parallel we have the ability to directly compare the results and understand the inherent variability in the derived scientific results based on different system architectures and processing assumptions. The impact of operating a system without an interferometer on the amplitudes and phases of the observed wave components is considered. We find that the lack of altitude resolution of the COBRA DAQ system leads to an underestimation of the amplitude of the s = 1 component of the semidiurnal tide of ∼20% during the summer months.     

四元数在弹射座椅性能仿真中的应用

针对弹射座椅性能仿真中欧拉角速率方程在大幅度姿态运动时存在奇异性,以及四元数法由于姿态角的有界性而出现跳跃、难以实现全姿态角的问题,提出了四元数与欧拉角相结合的方法.阐述了四元数的定义、几何意义及四元数表示的运动学方程.通过四元数到欧拉角的转换,给出了仿真中四元数的积分初值计算公式;分析了弹射仿真中姿态角的跳跃和间断问题.以某型号座椅为例进行了仿真计算,通过对比仿真结果和试验数据,确认了仿真的有效性;与采用单一四元数法的仿真结果进行对比表明,该方法充分结合了四元数与欧拉角速率方程的优点,有效解决了欧拉角速率方程的奇异性和弹射仿真中全姿态角的实现.      

单燃速单室双推力三维药柱的工程设计

从工程实际的角度,介绍了单燃速单室双推力三维药柱的设计方法和药型参数优化方法,并通过设计实例纠正了长期以来对以单一推进剂实现两级推力的几个认识误区,为这一新技术成果的应用奠定了基础。     

Compensation of base disturbance using optimal trajectory planning of dual-manipulators in a space robot

This paper presents a trajectory planning algorithm for a space robot with dual-manipulators. Here one manipulator of the space robot captures a target, and another manipulator is free. In this case, this study uses one manipulator as the mission manipulator to capture the target, and another as the balance manipulator aiming at the compensation of the pose disturbance. For this method, a novel trajectory planning algorithm applied to the balance manipulator is presented. The trajectory planning problem is transformed into series of problems of the optimal state solution, and then the iterative algorithms for the trajectory planning are designed. In the iterative algorithms, the bias force on the spacecraft base caused by the balance manipulator is used as the compensation force. Then, to calculate the expected compensation force and torque, a pose control law for the spacecraft base is introduced. The expected compensation force and torque provide equality constraints for optimization problems, which implies that the trajectory planning algorithm compensates for not only the disturbance generated by the manipulator’s motion, but also environmental disturbances. This is because the expected compensation force and torque depend on the pose change of the spacecraft base rather than the type of the disturbance. Numerical simulation was carried out to analyze the proposed trajectory planning method. It was observed that the method greatly reduces the disturbance of Manipulator A on the spacecraft base. These results validated the effectiveness of the proposed method for the trajectory planning to make the spacecraft base disturbance up to minimum.     

GOCE star tracker attitude quaternion calibration and combination

We analyse the inter-boresight angles (IBA) measured by the star trackers on board the GOCE satellite and find that they exhibit small offsets of 7–9″ with respect to the ones calculated from the rotation of the star tracker reference frames to the satellite reference frame. Further, we find small variations in the offsets with a peak-to-peak amplitude of up to 8″, which correlate with variations of the star trackers’ temperatures. Motivated by these findings, we present a method for combining the attitude quaternions measured by two or more star trackers that includes an estimation of relative attitude offsets between star trackers as a linear function of temperature. The method was used to correct and combine the star tracker attitude quaternions within the reprocessing of GOCE data performed in 2018. We demonstrate that the IBA calculated from the corrected star tracker attitude quaternions show no significant offsets with respect to the reference frame information. Finally, we show that neglecting the star tracker attitude offsets in the processing would result in perturbations in the gravity gradients that are visible at frequencies below 2?mHz and have a magnitude of up to 90?mE. The presented method avoids such perturbations to a large extent.     

一种面向对缝测量的双线结构光光条中心提取方法

针对双线结构光对缝测量系统中光条中心的提取问题,提出一种基于自适应阈值和傅里叶拟合的光条中心亚像素提取方法。该方法根据双线结构光光带截面灰度呈近似周期性分布的特点,先采用骨架细化法获得条纹中心初始位置,再通过均方灰度梯度求取骨架上每一点的法线方向,然后采用自适应阈值法提取出条纹各列法向宽度值,最后利用条纹法向宽度内的灰度值数据进行傅里叶拟合,求取拟合曲线的峰值,连接峰值点得到光条的中心线。试验结果表明,该方法提取的光条中心点到中心点拟合直线的平均距离为0.1182个像素和0.1428个像素,优于骨架细化法和高斯拟合法,并且该方法能够一次完成两根结构光光条中心的精确提取,对缝的测量精度能够达到0.04mm。     

根据同时观测信息确定航天器 姿态四元数的一种解析方法

介绍根据星敏感器同时观测几颗恒星的方向信息,用最小二乘法确定飞行器姿态的经典Wehba问题.针对用四元数描述飞行器姿态的情况,推导了的一种解析算法.观测5颗恒星实例的仿真结果表明,该算法能保证飞行器体轴系相对惯性系姿态的高精度.