多目标融合的冗余空间机械臂碰前轨迹优化

面向在轨对接与装配任务,提出了多目标融合的冗余度空间机械臂碰前轨迹优化方法。通过分析任务特点,阐述了空间机械臂碰前的多重任务目标。针对由空间机械臂连续轨迹跟踪、碰撞姿态控制及碰撞冲量幅值优化三个目标组成的第一类任务,通过设置任务优先级融合多目标并采用基于主任务零空间的方法实现对碰前轨迹的优化;而对由空间机械臂点到点规划、碰撞姿态控制及碰撞冲量幅值优化三个目标组成的第二类任务,通过设置任务权重将多目标融合并采用遗传算法对碰前轨迹进行优化。以典型七自由度机械臂为例开展仿真实验,验证了提出的轨迹优化方法的有效性。     

柔性绳网动力学建模与天地差异性分析

采用有限元模型研究了柔性绳网系统的动力学特性。针对空间绳网直接弹射展开方式,首先将绳网离散为若干单元,各单元处理为非线性“半阻尼弹簧”模型,然后分别计算各单元所受气动力和重力,最终建立绳网系统多柔体动力学模型。基于所建立的动力学模型分别对柔性绳网在地面和太空展开的动力学过程进行了仿真分析,研究了绳网在展开面积、空间位形和飞行距离等方面的天地差异性及其动力学机理,为未来空间绳网系统的分析设计提供理论参考。     

Recent Advances in Chinese Meridian Project

To develop an understanding of near-Earth space's response to solar activities and the coupling among different layers in geospace, China has initiated a ground base program to monitor China's geospace environment called the Meridian Space Weather Monitoring Project (Chinese Meridian Project). The effort consists of a chain of 15 ground-based observatories located roughly along 120°E longitude and 30°N latitude. Each observatory is equipped with multiple instruments to measure key parameters such as the baseline and time-varying geomagnetic field, as well as the middle and upper atmosphere and ionosphere from about 20 to 1000 kilometers. This project started collecting data in 2012. We will give a brief introduction to the Chinese Meridian Project, and present recent scientific results mainly in ionospheric and atmospheric studies.      

Science Researches of Chinese Manned Space Flight

With the complete success of the 2nd stage of Chinese Manned Space Program (CMSP), several science researches have been performed on Tiangong-1 experimental spacelab, which was docked with three Shenzhou spaceships one after another. The China's real spacelab, Tiangong-2 will be launched in 2015, docked with a Shenzhou spaceship soon. After six months, it will be docked with the first Chinese cargo ship (Tianzhou-1). More space science researches, involving with space biology, fluid physics, fundamental physics, materials science, Earth science, astronomy and space environmental science, will be operated on Tiangong-2 spacelab, and crewed and cargo spaceships. Furthermore, the considerable large-scale space utilization of Shina's Space Station is planned. The research fields include yet not limited to space medicine and physiology, space life science and biotechnology, fluid physics and combustion in microgravity, space material science, and fundamental physics in microgravity, space astronomy, Earth science, space physics and space environment utilization, technology demonstration.      

Space Life Science of China in 2013

In the past two years, space life science research in China is characterized by a wide area of basic researches for providing foundation for the future China Space Station. The effect of microgravity and radiation was further studied from physiology phenomena to the level of bio-molecule mechanisms. Chinese space life science is maturing in a new era of comprehensive development. Here, we review and summarize researches on space life sciences which were contributed by Chinese scientists.      

柔性机械臂辅助空间站舱段对接阻抗控制

空间机械臂辅助舱段对接过程中存在测量与控制误差,易导致对接机构间存在较大接触力,传统FMA (Force MomentAccommodation)控制方法在测量接触力时无法消除大负载惯性力对测量的影响,且测量仪器的引入会进一步降低空间柔性机械臂的刚度。为此,文章提出了柔性机械臂辅助大负载空间舱段对接的阻抗控制方法,采用拉格朗日法推导了空间机械臂的关节输入力矩方程作为前馈输入,建立了含动力学前馈的空间机械臂阻抗控制程序,并以在商业软件ADAMS中建立的空间柔性机械臂与对接舱段组成的系统动力学模型作为控制对象,对系统进行ADAMS灢Matlab联合仿真。仿真结果表明,按照此控制方法,系统可克服外力干扰使目标解析点按照期望的方式运动;同时,通过测量机械臂关节运动参数即可实现对外力的准确感知,而不需额外添加力传感器,既消除了大负载惯性力对测量的影响,也不会导致柔性机械臂刚度的降低。     

一种改进的多点融合非均匀校正技术

针对空间宽幅相机在进行非均匀性校正过程中相机镜头与积分球输出口的相对位置发生变换后非均匀性校正精度下降的原因进行了分析,提出了一种改进的融合多点位置的非均匀校正新方法,即为了消除积分球的角均匀性和面均匀性的不足,采用获取多个位置的大量定标图像,融合求取平均值的方法得到校正系数来削弱这种影响,并进行试验验证分析。结果表明,多点融合的校正方法在积分球输出口光强不均匀、又无法固定相机与积分球相对位置的前提下,减少了积分球光强的不均匀性对系数可靠性的影响,相对辐射定标的非均匀校正精度得到大幅提高。     

Behavior of tethered debris with flexible appendages

Active exploration of the space leads to growth of a near-Earth space pollution. The frequency of the registered collisions of space debris with functional satellites highly increased during last 10 years. As a rule a large space debris can be observed from the Earth and catalogued, then it is possible to avoid collision with the active spacecraft. However every large debris is a potential source of a numerous small debris particles. To reduce debris population in the near Earth space the large debris should be removed from working orbits. The active debris removal technique is considered that intend to use a tethered orbital transfer vehicle, or a space tug attached by a tether to the space debris. This paper focuses on the dynamics of the space debris with flexible appendages. Mathematical model of the system is derived using the Lagrange formalism. Several numerical examples are presented to illustrate the mutual influence of the oscillations of flexible appendages and the oscillations of a tether. It is shown that flexible appendages can have a significant influence on the attitude motion of the space debris and the safety of the transportation process.     

United Nations Human Space Technology Initiative (HSTI)

The Human Space Technology Initiative was launched in 2010 within the framework of the United Nations Programme on Space Applications implemented by the Office for Outer Space Affairs of the United Nations. It aims to involve more countries in activities related to human spaceflight and space exploration and to increase the benefits from the outcome of such activities through international cooperation, to make space exploration a truly international effort.     

Closed-loop distance-keeping for long-term satellite cluster flight

Cluster flight is a term used for describing multiple satellites that are being held within pre-defined minimum and maximum distances for long time intervals, possibly the entire mission. This technology is required for a myriad of space architectures and missions, including disaggregated space architectures. Whereas the literature is abundant with works on control laws for satellite formation flying, there are only a handful of works on control of cluster flight. The purpose of the current work is to develop a cluster flight control algorithm, which is able to keep the satellites of the cluster within pre-specified minimum and maximum distances, while utilizing small amounts of propellant. The newly developed algorithm relies on the natural inter-satellite distance dynamics. The algorithm incorporates realistic mission constraints, such as constant-magnitude thrust, and is implemented in feedback form, steering the mean elements to judiciously selected reference values. Simulations indicate that a few tens of grams of propellent are sufficient for operating a cluster flight mission in excess of 1 year, using low specific-impulse thrusters.