摘要
在空间站的建造和使用过程中,需要应用机械臂对不同舱段或目标航天器进行多次自主捕获及转位操作。文章提出应用机械臂实现空间站舱段或目标航天器自主捕获及转位的方案。其中:信息流方案中明确信息系统的构建方案,着重说明各类型数据的传输路径及方式;操控方案明确空间站舱段或目标航天器自主捕获及转位的整体操控方法,着重说明具有良好复用性并可自主执行的模块化设计过程。通过地面测试验证及在轨空间站机械臂转位货运飞船试验,对信息流方案和操控方案进行验证。结果表明:应用机械臂的空间站舱段或目标航天器自主捕获及转位方案设计正确,能够实现高实时性、自主控制、可复用的空间站舱段或目标航天器自主捕获及转位,可为后续空间站的建造及机械臂的使用打下很好的基础。
During the construction and application of the space station,it is necessary to apply manipulator to perform multiple autonomous capture and transposition operations on different cabin segments or target spacecraft.A scheme using manipulator to achieve autonomous capture and transposition of space station segments or target spacecraft is proposed in this paper.Among them,the information flow plan specifies the construction of the information system,emphasizing the transmission paths and methods of various types of data,the control plan specifies the overall control method for autonomous capture and transposition of space station cabin segments or target spacecraft,emphasizing the modular design process with good reusability and autonomous execution.The information flow scheme and control scheme are verified through ground testing verification and in-orbit space station manipulator transposition cargo spacecraft experiment.The results show that the design of autonomous capture and transposition scheme for space station segments or target spacecraft using manipulator is correct,and it can achieve high real-time,autonomous control and reusable autonomous capture and transposition of the space station cabin segments or target spacecraft.The scheme proposed can lay a good foundation for the subsequent construction of space station and the application of manipulator.
作者
牛嘉祥
胡玉茜
吴志红
周波
余晟
NIU Jiaxiang;HU Yuqian;WU Zhihong;ZHOU Bo;YU Sheng(Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)
出处
《航天器工程》
CSCD
北大核心
2023年第5期49-55,共7页
Spacecraft Engineering
关键词
空间站舱段
目标航天器
机械臂
捕获及转位
space station cabin segment
target spacecraft
manipulator
capture and transposition
