基于双目视觉的非合作目标逼近控制系统设计与仿真

主要研究空间非合作目标近距离逼近过程的控制系统设计与仿真问题.针对采用双目视觉敏感器实现对非合作目标的观测情况，提出一种考虑成像误差的目标位置矢量计算方法，有效保证目标位置解算的可行性.在主星视线坐标系下，分别考虑逼近过程的最大相对速度约束、控制推力和力矩约束，设计了基于非线性项解耦的递阶饱和PID形式的近距离逼近位置控制律和姿态控制律，并在逼近过程中设置停泊点以确保与目标无碰撞.最后对典型航天器非合作目标抓捕任务进行了数学仿真，仿真结果表明所提出的方法可在满足各种约束的情况下有效实现任意方向的空间非合作目标的抓捕任务.

Control System Design and Simulation of Binocular Vision-Based Non-Cooperative Target Proximity Mission

The control system design and simulation of non cooperative target proximity mission are investigated. Considering binocular vision sensor with imaging errors, a new relative position computation method is proposed to obtain the position of non cooperative target. With constraints like maximum relative velocity, control force and control torque, the cascade saturation PID control based on nonlinear decoupled position control and attitude control algorithms are developed in the line of sight coordinate system. Further, holding points are adopted in conjunction with the proposed control methods to avoid collision with the target. Numerical simulation results in a typical non cooperative target proximity scenario are provided to demonstrate the effectiveness and reliability of the proposed strategy.