航天器相对运动模拟与相对位姿测量评估系统设计与试验

doi:10.3901/JME.2023.13.011

机械工程学报 ›› 2023, Vol. 59 ›› Issue (13): 11-23.doi: 10.3901/JME.2023.13.011

扫码分享

航天器相对运动模拟与相对位姿测量评估系统设计与试验

周芮¹, 刘延芳¹, 曹姝清^2,3, 武海雷^2,3, 齐乃明¹

1. 哈尔滨工业大学航天学院哈尔滨 150001;
2. 上海航天控制技术研究所上海 201109;
3. 上海市空间智能控制技术重点实验室上海 201109

收稿日期:2022-07-23 修回日期:2022-12-13 出版日期:2023-07-05 发布日期:2023-08-15
通讯作者: 刘延芳(通信作者),男,1986年出生,博士,研究员,博士研究生导师。主要研究方向为飞行器机电一体化、航天器智能化装配与测试和航天器智能自主技术。E-mail:yanfangliu@hit.edu.cn
作者简介:周芮,女,1997年出生,博士研究生。主要研究方向为计算机视觉、在轨任务相对位姿测量、地面运动模拟系统。E-mail:20B918111@stu.hit.edu.cn
基金资助:
国家自然科学基金(52272390)、黑龙江省自然科学基金优秀青年(YQ2022A009)、上海市青年科技英才扬帆计划(20YF1417300)和上海市青年科技英才扬帆计划(19YF1420200)资助项目。

Design and Experiment of Spacecraft Relative Motion Simulation and Relative Pose Measurement Evaluation System

ZHOU Rui¹, LIU Yanfang¹, CAO Shuqing^2,3, WU Hailei^2,3, QI Naiming¹

1. School of Astronautics, Harbin Institute of Technology, Harbin 150001;
2. Shanghai Institute of Spaceflight Control Technology, Shanghai 201109;
3. Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109

Received:2022-07-23 Revised:2022-12-13 Online:2023-07-05 Published:2023-08-15

摘要/Abstract

摘要： 为满足航天器相对位姿测量技术的验证需求，需要在地面实现目标航天器与追踪航天器之间相对位置和姿态运动模拟，并获取实时位姿数据。航天器相对运动模拟与相对位姿测量评估系统，采用双机械臂和二维导轨实现对目标航天器与追踪航天器相对运动的模拟；通过激光跟踪仪完成标定，建立了目标航天器及追踪航天器两个运动平台的基座、末端及工具的坐标系和基准坐标系，并给出各坐标系间的转换关系。此外，利用“棋盘格”标定板对航天器相对位姿测量系统进行标定，得到相机参数及目标模型靶标工具坐标系、相机工具坐标系与运动平台末端坐标系间的转换关系。航天器相对运动模拟试验结果表明，相对运动位置模拟精度优于3 mm、角度模拟精度优于0.2°；航天器相对位姿测量技术验证试验表明，航天器相距2 m时，相对位置测量最大误差小于0.045 m，角度测量最大误差小于0.417°。试验结果表明，航天器相对运动模拟精度能够满足航天器相对位姿测量评估需求。

关键词: 航天器相对运动, 系统标定, 运动模拟, 位姿测量

Abstract: In order to meet the verification requirements of spacecraft relative pose measurement system, it is necessary to realize the relative position and attitude motion simulation between the target and the chaser spacecraft on the ground, and obtain real-time pose data. Dual manipulators and two-dimensional guide rails are used to build relative motion simulation and evaluation system, which is calibrated by laser tracker. The conversion relationship between the coordinate system of base, end and tool of the two motion platforms are given. In addition, the "checkerboard" calibration board is used to calibrate the relative motion measurement system of the spacecraft, the camera parameters and the conversion relationship between target-model tool coordinate system, the camera tool coordinate system and the motion platform end coordinate system are obtained. The spacecraft relative motion simulation test shows that the relative motion position simulation accuracy is better than 3 mm, the angle simulation accuracy is better than 0.2°. The relative pose measurement verification test shows that when the spacecrafts re separated by 2 m, the relative position measurement maximum error is less than 0.045 m and the angle measurement maximum error is less than 0.417°. The test results show that the simulation accuracy of spacecraft relative motion can meet the demand of spacecraft relative pose measurement evaluation.

Key words: spacecraft relative motion, system calibration, motion simulation, pose measurement

中图分类号:

V443
TP391

周芮, 刘延芳, 曹姝清, 武海雷, 齐乃明. 航天器相对运动模拟与相对位姿测量评估系统设计与试验[J]. 机械工程学报, 2023, 59(13): 11-23.

ZHOU Rui, LIU Yanfang, CAO Shuqing, WU Hailei, QI Naiming. Design and Experiment of Spacecraft Relative Motion Simulation and Relative Pose Measurement Evaluation System[J]. Journal of Mechanical Engineering, 2023, 59(13): 11-23.

参考文献

[1] 薛智慧,刘金国. 空间机械臂操控技术研究综述[J]. 机器人,2022,44(1):107-128. XUE Zhihui,LIU Jinguo. Review of space manipulator control technologies[J]. Robot,2022,44(1):107-128.
[2] 刘延芳,刘兴富,齐乃明. 超低干扰力矩微纳卫星姿控半物理仿真平台[J]. 系统工程与电子技术,2017,39(8):1808-1814. LIU Yanfang,LIU Xingfu,QI Naiming. Hardware-in-loop simulation platform with super-low disturbance torque for attitude control system of micro and nano-satellites[J]. Systems Engineering and Electronics,2017,39(8):1808-1814.
[3] FU Yan,LI Shiqi,CHEN Gwen-guo. Motion/posture modeling and simulation verification of physically handicapped in manufacturing system design[J]. Chinese Journal of Mechanical Engineering,2013,26(2):225-231.
[4] LIU Jianhua,ZHANG Zhixian,LIU Yang. Universal mechanism modeling method in virtual assembly environment[J]. Chinese Journal of Mechanical Engineering,2012,25(6):1105-1114.
[5] 张新邦. 航天器半物理仿真应用研究[J]. 航天控制,2015,33(1):77-83. ZHANG Xinbang. The research on application of hardware in the loop simulation for spacecraft[J]. Aerospace Control,2015,33(1):77-83.
[6] 齐乃明,张文辉,高九州,等. 三维空间微重力地面模拟试验系统设计[J]. 机械工程学报,2011,47(9):16-20. QI Naiming,ZHANG Wenhui,GAO Jiuzhou,et al. Design of ground simulation test system for three-dimensional spatial microgravity environment[J]. Journal of Mechanical Engineering,2011,47(9):16-20.
[7] 姚燕生,梅涛. 空间操作的地面模拟方法——水浮法[J]. 机械工程学报,2008,44(3):182-188. YAO Yansheng,MEI Tao. Simulation method of space operation on the ground——buoyancy method[J]. Journal of Mechanical Engineering,2008,44(3):182-188.
[8] CHEN C I,CHEN Y T,WU S C. Experiment and simulation in design of the board-level drop testing tower apparatus[J]. Experiment Techniques,2012,36(2):60-69.
[9] SAWADA H,UI K,MORI M. Micro-gravity experiment of a space robotic arm using parabolic flight[J]. Advanced Robotics,2004,18(3):247-267.
[10] 齐乃明,张文辉,马静. 空间微重力地面模拟试验系统智能控制器设计[J]. 哈尔滨工业大学学报,2012,44(1):17-21. QI Naiming,ZHANG Wenhui,MA Jing. Intelligent controller design of ground simulation test system for three-dimensional spatial microgravity environment[J]. Journal of Harbin Institute of Technology,2012,44(1):17-21.
[11] 高海波,牛福亮,刘振,等. 悬吊式微低重力环境模拟技术研究现状与展望[J]. 航空学报,2021,42(1):80-99. GAO Haibo,NIU Fuliang,LIU Zhen,et al. Suspended micro-low gravity environment simulation technology:Status quo and prospect[J]. Acta Aeronautica et Astronautica Sinica,2021,42(1):80-99.
[12] XIU W,RUBLE K,MA O. A reduced-gravity simulator for physically simulating human walking in microgravity or reduced-gravity environment[C]//IEEE International Conference on Robotics and Automation,2014:4837-4843.
[13] RUSSAKOW J,ROCK S M,KHATIB O. An operation space formulation for a free-flying,multi-arm space robot[C]//Proceedings of the Fourth International Symposium on Experimental Robotics.Berlin:springer,1997:448-457.
[14] 张文辉,叶晓平,季晓明. 空间微重力地面模拟装置基于神经滑模的自适应补偿控制[J]. 机械工程学报,2014,50(15):68-72. ZHANG Wenhui,YE Xiaoping,JI Xiaoming. Adaptive compensation control for ground simulation equipment of space microgravity environment base on neural sliding-model[J]. Journal of Mechanical Engineering,2014,50(15):68-72.
[15] NECHYBA M C,XU Y S. Human-robot cooperation in space:SM² for new space station structure[J]. IEEE Robotics & Automation Magazine,1995:2(4),4-11.
[16] 刘振,高海波,邓宗全. 星球车地面低重力模拟系统设计[J]. 机器人,2013,35(6):750-756. LIU Zhen,GAO Haibo,DENG Zongquan. Design of the low gravity simulation system for planetary rovers[J]. Robot,2013,35(6):750-756.
[17] KIM M G,CHO S,TRAN T Q. Scaled jump in gravity-reduced virtual environments[J]. IEEE Transactions on Visualization and Computer Graphics,2017,23(4):1360-1368.
[18] 于振,刘书桂,张海涛. 一种简便的转台运动误差标定方法研究[J]. 组合机床与自动化加工技术,2016(1):86-88. YU Zhen,LIU Shugui,ZHANG Haitao. A calibration method of one of the motion error of turntable based on laser collimator[J]. Modular Machine Tool and Automatic Manufacturing Technique,2016(1):86-88.
[19] DE STEFANO,M,BALACHANDRAN R,ARTIGAS J. Reproducing physical dynamics with hardware-in- the-loop simulators:A passive and explicit discrete integrator[C]//IEEE International Conference on Robotics and Automation,2017:5899-5906.
[20] SHARMA S,D'AMICO S. Neural network-based pose estimation for noncooperative spacecraft rendezvous[J]. IEEE Transactions on Aerospace and Electronic Systems,2020,56(6):4638-4658.
[21] PENG J,XU W,YAN L. A pose measurement method of a space noncooperative target based on maximum outer contour recognition[C]//IEEE Transactions on Aerospace and Electronic Systems,2020:512-526.
[22] 荆武兴,高长生. 空间飞行器导航、制导与控制[M]. 哈尔滨:哈尔滨工业大学出版社,2018. JING Wuxing,GAO Changsheng. Navigation,guidance and control of spacecraft[M]. Harbin:Harbin Institute of Technology Press,2018.
[23] 韩鸣晓,邓志祥,蔡木良. 单目视觉双臂机器人相对位姿的快速标定[J]. 机械设计与研究,2018,34(4):23-26. HAN Mingxiao,DENG Zhixiang,CAI Muliang. Research of relative position and pose fast calibration method for dual-arm robot based on monocular vision[J]. Machine Design and Research,2018,34(4):23-26.

航天器相对运动模拟与相对位姿测量评估系统设计与试验

Design and Experiment of Spacecraft Relative Motion Simulation and Relative Pose Measurement Evaluation System

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 8

编辑推荐

Metrics

本文评价

[1]	王耀南, 谢核, 邓晶丹, 毛建旭, 李文龙, 张辉. 智能制造测量机器人关键技术研究综述[J]. 机械工程学报, 2024, 60(16): 1-18.
[2]	郑联语, 付强, 樊伟, 张学鑫, 刘新玉, 曹彦生. 基于双目视觉和先验加工数据的大型筒件原位位姿感知方法[J]. 机械工程学报, 2023, 59(11): 129-146.
[3]	韩旺, 段学超, 仇原鹰, 段宝岩. 基于线驱动并联机构的FAST馈源平台位姿测量方法[J]. 机械工程学报, 2017, 53(17): 43-49.
[4]	曲学军;宋悦文;王勇;韩志仁;张凌云. 基于新的系统数学模型的三维形貌测量法[J]. , 2012, 48(14): 17-24.
[5]	董彦良;许彩霞;唐建林;吴盛林. 6自由度平台的Washout滤波器设计及试验研究[J]. , 2010, 46(3): 53-58.
[6]	皮阳军;王宣银;李强;程佳. 基于干扰观测器的舰船运动模拟器非线性控制[J]. , 2010, 46(10): 164-169.
[7]	郭洪波;李洪人. 液压驱动6自由度运动模拟器动力机构控制策略研究[J]. , 2005, 41(2): 199-204.
[8]	王宣银;刘荣;贾光政;程佳. 车辆运动模拟6自由度平台的协同控制研究[J]. , 2004, 40(4): 160-163.