任务空间内空间机器人鲁棒智能控制器设计

研究了基于神经网络的自由漂浮空间机器人在任务空间内的轨迹跟踪问题。首先利用RBF神经网络来逼近自由漂浮空间机器人高度非线性的动力学模型，然后设计了鲁棒控制器对逼近误差和外部干扰进行抑制。利用Lyapunov直接方法建立的新的神经网络参数和连接权值的在线学习算法，以及利用耗散理论设计的鲁棒控制器保证了系统的稳定性，并能够使系统L2增益小于给定的指标。利用该控制器对平面二连杆空间机器人进行了仿真研究，表明该智能控制方案是有效的。     

受细胞膜放电模型启发的航天器姿态鲁棒控制

研究了具有模型参数不确定和受空间环境干扰影响的挠性航天器姿态大角度快速机动快速稳定控制问题,设计了一种受细胞膜放电模型启发的鲁棒姿态控制器。综合考虑挠性航天器的强非线性和强耦合特性,设计了对模型参数和环境干扰具有鲁棒性的姿态机动控制器。为了减小机动中姿态突变激发的挠性附件振动,基于细胞膜放电的动力学模型设计了一种改进的鲁棒控制器。当参数不确定范围和干扰有界时,所提鲁棒控制器可使闭环系统的解最终一致有界。最后,分析了控制器参数对姿态控制性能及所需能量的影响。数值仿真验证了所提鲁棒控制器用于姿态机动控制可以得到良好的效果。     

面向航天运载器的通用化无线传感网络设计方法

无线传感网络作为航天领域的一项新兴技术,凭其无缆化测量的显著优势,已成为航天运载器环境参数测量的重要手段。目前航天运载器上搭载的无线传感网络纷繁复杂,技术路线各异,难以有效提高产品的性能和可靠性。提出了一种面向航天运载器的通用化无线传感网络设计方法,重点介绍了通用化产品架构、设计要点、应用难点及发展思路,旨在提高产品性能及可靠性,最终形成性能分档、可靠性高的货架产品。     

Sleep in space

Manned space flights have shown it is possible to sleep in microgravity. However, some sleep disturbances have been reported which influence performance of the crew and safety of space flight. This paper reviews the main studies of in-flight sleep in animal and man. Most disturbances are related to phase lags due to operational requirements. Factors which can disturb in-flight sleep are analysed: environmental factors. Some of them are secondary to space flight ergonomics. Conversely, effects of microgravity on light-dark alternance are less known and lead to interesting problems of fundamental research, psychological factors, especially during long duration flights.     

Development of a complex prognostic model of the upper atmosphere and ionosphere

We consider possible stages of constructing complex models of the circumterrestrial plasma including both neutral and charged components in their interaction. At the initial stage it is suggested to use as a basis the empirical models of the upper atmosphere and ionosphere. These models have concentrated fundamental data about the near-Earth space (NES) accumulated for several decades of space exploration. The final goal is to construct a prognostic model which would allow one to calculate both long-periodic variations of the NES structure (they can occur over several decades of years and more) and short-period disturbances with a characteristic time of about a day. In order to predict the results of anthropogenic effects it is proposed to construct imitation mathematical models that should allow one to calculate NES variations which can proceed at various model scenarios of anthropogenic actions.     

Space weather forecast: Principles of the construction and boundaries of the implementation (experience of three cycles)

All significant short-term disturbances of the near-Earth space are caused exclusively by solar flare events and regions in the solar corona with the magnetic field open into the interplanetary space (coronal holes). Flare processes occur as a consequence of the interactions of new emerging magnetic fluxes within (flares) and outside (filament ejections) the active regions with already existing magnetic fields. The observation of emerging new magnetic fluxes and the estimate of their magnitude and the emerging rate allow one to forecast solar flares and filament ejections and estimate their degree of geoeffectiveness. The main agents that visualize the propagation of disturbance from solar flares and filaments in the solar corona and the interplanetary space are coronal mass ejections, the characteristics of which ideally allow one to estimate the possible disturbance of the geomagnetic field, the possible growth of high-energy charged particle fluxes in the near-Earth space. For successful forecast of geoeffective active phenomena on the Sun and their consequences in the near-Earth space, it is necessary to know the situation on the Sun for the last 3 days taking into account the development and characteristics of the current cycle and the epoch of solar activity.     

Through optimization of branching injection trajectories by the Pontryagin maximum principle using stochasticmodels

A problem of the through optimization of aerospace vehicle branching ascent trajectories in view of atmospheric disturbances (wind and thermodynamic parameters variations) and constraints on admissible areas of separated parts fall points is considered. The problem solution is based on the Pontryagin maximum principle. The problem with a continuum of branches corresponding random disturbances was reduced to the more standard one with a finite set of branches being the most critical (at the given event probability) with regard to the functional considered. The analytical synthesis of such critical disturbances profiles is obtained on basis of the Bliss formula, connecting a functional change with variations of right parts of motion equations. The developed technique and its efficiency are demonstrated by an example for a typical launcher.     

Theory of type III radio bursts in the interplanetary space: I. Derivation of permittivity tensor for the system consisting of electron beam and solar wind plasma

The tensor of permittivity for the system “electron beam - plasma of the interplanetary space” is derived in the approximation of geometrical optics. The problem is one-dimensional; all parameters such as density of the beam and of the solar wind plasma, and the induction of the interplanetary magnetic field are assumed to be dependent only on the distance to the Sun. The beam is generated by an active region during a solar flare, and it is a source of radio bursts of type III in the interplanetary space. The tensor of permittivity was obtained to close field equations by a material equation. On the basis of these equations it becomes possible to study theoretically the amplitude-frequency characteristics of the radio bursts as disturbances of the above-described beam-plasma system.     

基于改进伪谱反馈控制的远程变轨闭环制导

利用最优反馈控制和轨迹快速重构技术,设计一种有限推力空间远程变轨自适应闭环制导方法。首先给出了最优反馈控制的求解原理和必要条件。将空间变轨动力学模型特点和伪谱法相结合,设计基于状态量缩减的计算效率改进策略以提高轨迹优化的实时性。基于改进伪谱法进行逐次轨迹快速重构,利用开环最优解形成闭环反馈,从而保证制导指令的实时更新,并通过引入控制逻辑改进制导算法。远程交会仿真表明,该闭环制导方法在保证任务指标具有一定最优性的同时,可以有效抑制多种参数不确定性和外界干扰的影响,具有较高的制导精度、自适应性和鲁棒性。     

基于角动量守恒的空间机器人动力学参数辩识

空间机器人由于加工、装配误差以及在轨燃料消耗等因素使其名义公称参数与实际 动力学参数相比存在一定的误差。空间机器人路径规划和地面机器人不同,其广义雅克比 矩阵包含动力学参数,使计算的轨迹偏离实际要求的路径,引起末端位姿误差。本文根 据自由飘浮空间机器人的角动量守恒方程式,对一种两自由度空间机器人的基座以及机械臂 的各个关节分别单独做三次多项式轨迹激励,利用基于偏差模型的最小二乘法和遗传算 法对动力学参数进行辨识。仿真结果表明,遗传算法的计算稳定性和对动力学参数辩识精 度优于最小二乘法。〖JP〗     

Pathophysiology of motor functions in prolonged manned space flights.

The influence of weightlessness on different parts of the motor system have been studied in crew members of 140 and 175 days space flights. It has been shown that weightlessness affects all parts of the motor system including (i) the leg and trunk muscles, in which severe atonia, a decrease of strength and an increase of electromyographic cost of contraction have been observed, (ii) the proprioceptive elements and the spinal reflex mechanisms in which decreased thresholds accompanied by decreases of maximal amplitude of reflexes and disturbances in cross reflex mechanisms have been found. and (iii) the central mechanisms that control characteristics of postural and locomotor activities. The intensities and durations of disturbances of different parts of the motor system did not correlate to each other, but did correlate with prophylactic activity during space flight. The data suggest a different nature of disturbances caused by weightlessness in different parts of the motor system.     

空间激光通信调制技术的研究进展

空间激光通信系统具有传输速率高、体积小、质量轻、功耗低等特点，适用于卫星高速数据传输。激光通信调制技术作为空间激光通信系统的一项关键技术，是影响系统通信性能的主要因素之一。首先，介绍空间激光通信调制技术的原理及其分类，并对其优缺点做比较分析，再对激光调制的关键技术进行阐述；然后，从发展阶段与应用环境角度对国内外已报道的空间激光通信调制技术研究进展进行总结；最后，对空间激光通信调制技术的发展趋势进行展望。     

一种应用于空间碎片演化模型的碰撞概率算法

针对碰撞概率算法Cube模型参数影响空间碎片演化模型的仿真结果问题进行了深入分析与研究，并将原Cube算法进行改进，由此提出I-Cube模型。经过多次蒙特卡洛仿真结果验证，I-Cube模型对演化过程中空间碎片碰撞概率的计算更为准确合理，空间碎片长期演化模型的结果不再依赖于自身碰撞概率算法的相关参数，提高了空间碎片长期演化模型的稳定性与可信度。     

Image based control of the “PINOCCHIO” experimental free flying platform

A free floating platform is realized with a pneumatic suspension system which enables a two-dimensional test of complex space operations, such as rendezvous and docking. The platform is equipped with a IMU and actuated via cold gas thrusters. In addition, an on-board camera is used to acquire a target and its image is processed for evaluating the control actions needed to reach it. A technique for determining the relative position and velocity with respect to target using the same visual device is proposed and realized. The novel algorithms and relevant experimental results are presented. The tested accuracy of the relative navigation system is not very high, but the guidance algorithm, which is image based and has just a weak dependence on the position information, is robust enough to perform a successful maneuver. The error between the final acquired target image and the desired final target image is of the order of one pixel, notwithstanding all the testbed disturbances.     

基于自抗扰技术的挠性航天器高精度指向控制

针对存在外部干扰和模型不确定性的挠性航天器,提出了一类新颖的基于自抗扰技术的控制方案,实现无姿态角速度反馈的航天器对目标高精度姿态指向控制。对目标相对姿态指向控制系统进行建模,引入一光滑连续秦函数,构造三阶扩张观测器,观测系统姿态角速度和总扰动,并利用其实现动态补偿线性化及扰动抑制。针对单框架控制力矩陀螺群作为执行机构常存在的奇异,引入零空间空转指令设计了一类奇异避免操纵律。将控制系统方案用于某挠性航天器模型,仿真结果验证了方案的有效性、合理性。     

一种预测拦截未制导方法

本文提出一种预测拦截末制导方法。用等价预测碰撞线代替预测碰撞线,只需要探测视线的角速度,使需要探测的参数减少。文中还提出了外扰动常驻条件下,渐近稳定系统的设计方法。应用该方法设计出的末制导系统,可使导弹的攻击区扩大到一个蛋形球空间,使原理脱靶量趋于零。为说明以上结论,给出了仿真结果。     

A novel single thruster control strategy for spacecraft attitude stabilization

Feasibility of achieving three axis attitude stabilization using a single thruster is explored in this paper. Torques are generated using a thruster orientation mechanism with which the thrust vector can be tilted on a two axis gimbal. A robust nonlinear control scheme is developed based on the nonlinear kinematic and dynamic equations of motion of a rigid body spacecraft in the presence of gravity gradient torque and external disturbances. The spacecraft, controlled using the proposed concept, constitutes an underactuated system (a system with fewer independent control inputs than degrees of freedom) with nonlinear dynamics. Moreover, using thruster gimbal angles as control inputs make the system non-affine (control terms appear nonlinearly in the state equation). This necessitates the control algorithms to be developed based on nonlinear control theory since linear control methods are not directly applicable. The stability conditions for the spacecraft attitude motion for robustness against uncertainties and disturbances are derived to establish the regions of asymptotic 3-axis attitude stabilization. Several numerical simulations are presented to demonstrate the efficacy of the proposed controller and validate the theoretical results. The control algorithm is shown to compensate for time-varying external disturbances including solar radiation pressure, aerodynamic forces, and magnetic disturbances; and uncertainties in the spacecraft inertia parameters. The numerical results also establish the robustness of the proposed control scheme to negate disturbances caused by orbit eccentricity.     

电液伺服型并联式加注机器人运动轨迹跟踪控制

针对电液伺服型并联式加注机器人在实际任务中广泛存在的模型不确定和强外干扰问题,提出一种基于关节有限时间扰动估计(FTDO)的动力学解耦反步鲁棒控制策略。首先,将系统处理为一组受外部扰动关节子系统的集合,进而针对各关节通过设计两个有限时间扰动观测器实现了对关节中匹配与不匹配不确定性的有限时间同步精确估计和补偿。同时,基于系统的动力学解耦模型,通过设计反步鲁棒控制器保证了闭环系统的稳定性。最后,通过Lyapunov方法验证了闭环系统信号的有界性和关节跟踪误差的有限时间渐近收敛特性。试验结果表明,控制器在不同工况下均具有良好的轨迹跟踪性能和关节抗干扰能力,能够满足在实际加注任务中的应用需求 。     

飞行器切换多胞系统抗干扰控制

针对存在参数不确定和外部扰动的飞行器切换多胞系统跟踪控制问题,提出了一种基于改进微分器的抗干扰控制方法。该方法将参数不确定和外部扰动带来的影响均视为干扰,提出一种改进微分器实现对干扰的精确光滑估计并设计控制器进行补偿,抑制干扰对系统的影响。与H∞等传统鲁棒方法相比,本文所提方法避免了对不确定满足凸包形式的假设,且在名义情况和不确定情况下均具有良好的性能。结合微分不等式理论和平均驻留时间方法证明了闭环系统的稳定性。为了验证本文所提方法的良好性能,将其应用到一类高超声速飞行器的轨迹跟踪控制问题中,仿真结果表明该方法能够有效抑制干扰,实现对参考信号的精确跟踪。     

Guidance of a spacecraft with low lift-to-drag ratio to a landing point

The problem of terminal control over a deorbiting spacecraft at the stage of its flight after leaving plasma (altitude of ∼40 km) is considered, the aim being to guide it to a preset landing point. The algorithm is based on a modification of the well-known method of proportional navigation, when a fixed point is the target. It is suggested to use satellite navigation systems (of the GLONASS or GPS types) and/or radio beacons, which should allow one to determine the spacecraft trajectory parameters with high precision. Single-channel control is performed by changing the roll angle according to current parameters of the trajectory, which ensures adaptability of the method. Examples of three-dimensional trajectories of flight are presented for a manned spacecraft with low lift-to-drag ratio (∼0.5), currently under design in Russia. The results of statistical modeling taking into account initial deviations of the trajectory parameters and wind disturbances are presented. A method of statistical choice of a reference trajectory for the guidance stage is suggested. A theoretical possibility of using the algorithm of spacecraft guidance (in case of in-light accident with a carrier launcher) to preset regions in the vicinity of launching route is demonstrated. A qualitative analysis of proportional navigation with a fixed target is presented.