小行星探测器跳跃行走导航与控制策略研究

发布时间：2018-06-13 13:40

本文选题：小行星 + 跳跃行走　；参考：《哈尔滨工业大学》2015年硕士论文

【摘要】：小行星探测是当今空间探测新的发展方向,其中在小行星表面巡游探测方式对行星的探索与开发具有重要意义。小行星探测器跳跃行走方案相对于轮式探测器更能适应小行星表面的微重力场环境,是未来针对小行星表面探测的重要形式,进行跳跃行走的动力学、导航和控制策略研究是进行小行星探测器方案设计的基础研究工作和设计依据。本文即对此展开研究,主要研究内容有:首先进行小行星探测器跳跃行走方案的动力学建模。建立跳跃探测器的3D动力学模型,探测器通过飞轮加速产生的反作用力矩起跳,并在小行星表面跳跃行走直至停止,探测器与小行星表面的法向接触力采用基于Hertz定律和非线性阻尼函数的非线性弹簧-阻尼模型,切向接触力采用Karnopp摩擦力模型,最后进行数学仿真以验证方案的可实现性。然后研究小行星探测器跳跃行走运动的导航系统。由于加速度计低成本、小体积和低重量等优点,本文基于无陀螺捷联惯性导航系统的导航原理,结合小行星跳跃探测器的实际应用情况,提出一种十二加速度计+单速率陀螺仪的导航配置方案,对探测器在小行星表面的跳跃行走运动进行导航。然后对角速度的解算方法进行研究,提出一种采用单速率陀螺仪的开方法来解算角速度,并设计出卡尔曼滤波器,以此提高角速度的解算精度。根据解算出的角速度和碰撞前的运动参数,本文基于冲量理论提出三种方法来获取碰撞后速度和位置的导航信息,分析三种方法的优缺点,并进行仿真验证。最后研究跳跃探测器在小行星表面的运动规划与控制。主要研究能够使探测器能够跳跃的飞轮所需要产生的力矩,探索施加力矩与探测器跳跃瞬间运动参数的关系。然后研究在小行星环境中跳跃探测器能够以稳定的姿态进行探测的合理控制策略,分析有无考虑飞轮特性时采用PD控制的仿真结果,并就解决飞轮摩擦力矩干扰提出一种PID控制策略,仿真结果表明该控制策略能够克服飞轮摩擦力矩的干扰,从而能够使跳跃探测器能够以稳定的姿态飞行。
[Abstract]:Asteroid exploration is a new developing direction in space exploration nowadays, and it is of great significance for the exploration and development of planets to patrol the asteroid surface. Compared with wheeled detectors, the leaping walking scheme of asteroid detectors can adapt to the microgravity environment of asteroid surface, and is an important form of asteroid surface detection in the future. The research of navigation and control strategy is the basic research work and design basis for the scheme design of asteroid probe. The main contents of this paper are as follows: firstly, the dynamic modeling of the asteroid detector leaping walking scheme is carried out. A 3D dynamic model of the hopping detector is established, which takes off the reaction torque generated by the flywheel and jumps on the surface of the asteroid until it stops. The normal contact force between the detector and the asteroid surface is based on the nonlinear spring-damping model based on Hertz's law and nonlinear damping function, and the Karnopp friction model is used for the tangential contact force. Finally, the mathematical simulation is carried out to verify the realizability of the scheme. Then the navigation system of the asteroid probe is studied. Due to the advantages of low cost, small volume and low weight of accelerometer, this paper is based on the navigation principle of gyroscope free strapdown inertial navigation system, combined with the practical application of asteroid hopping detector. This paper presents a navigation configuration scheme for 12 accelerometers with single rate gyroscopes, which can navigate the hopping motion of the detectors on the surface of asteroids. Then, the calculation method of angular velocity is studied, and an open method of single rate gyroscope is proposed to solve the angular velocity, and a Kalman filter is designed to improve the accuracy of angular velocity calculation. Based on the calculated angular velocity and the motion parameters before collision, this paper proposes three methods based on impulse theory to obtain the navigation information of velocity and position after collision, analyzes the advantages and disadvantages of the three methods, and carries out simulation verification. Finally, the motion planning and control of jumping detectors on asteroid surface are studied. The torque produced by the flywheel which can make the detector jump is studied in this paper. The relationship between the applied torque and the instantaneous motion parameters of the detector is explored. Then the reasonable control strategy of jumping detector in asteroid environment is studied, and the simulation results of PD control are analyzed when the flywheel characteristics are considered or not. A pid control strategy is proposed to solve the friction moment disturbance of flywheel. The simulation results show that the control strategy can overcome the interference of friction torque of flywheel and make the hopping detector fly in a stable attitude.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V448.2

【引证文献】