基于变胞微分流形描述的多臂空间平台操作规划方法研究

The Connecting Spacecrafts with Variable Joint (CSVJ) is a complex space system formed after a multi-arm space vehicle captured a target, it is highly nonlinear and has variable topology. Because of the contradiction between its complexities of motion planning and real-time operation, existing trajectory planning methods don’t seem effective. In this project, genetic metamorphic will be employed to establish the dynamic model for a combined-body system which will be decoupled and matched to obtain system motion manifold. On the basis, a method of differential manifold representation for system dynamic equation, which can be solved both in configuration space and work space, will be raised. Then, we will perform the research of mathematic representation for external potential field of a combined-body system and multiscale analysis for safe operation area. Note that geometry configuration, parameter uncertainty and time-space coupling evolution law will be taken into full consideration in this process. After that, we will find out the complex mapping relation between metamorphic parameters and kinetic manifold parameters to solve safe operation space base on motion manifold, so a method of planning linear movement in short distance base on metamorphic manifold representation will be raised. At last, we will construct the ground experiment platform to demonstrate the operation process for single-arm capturing and dual-arm capturing while one-arm recycling, and the experiment result will be compared with the numerical simulation result for error analysis. There has been a breakthrough in trajectory planning representation for CSVJ in this project, which has scientific significance and application value for complex space operation.

空间变连接联合体是多臂平台捕获目标后形成的复杂空间结构，具有变拓扑、强非线性特征，现有动力学建模、轨迹规划方法无法解决其结构/运动规划复杂性与精细/实时操作之间的矛盾。本项目：1）基于遗传变胞理论建立联合体动力学模型，将联合体运动通过模型解耦、配对得到系统运动流形，提出面向构型空间和作业空间求解的动力学方程微分流形表征方法；2）充分考虑几何构态、参数不确定性和时空耦合演化规律，开展联合体复杂外包络势场数学表征、操作安全区多尺度分析研究；3）揭示变胞参数与动力学流形参数之间的复杂映射关系，求解动态安全作业空间，提出基于动力学变胞微分流形表征的短程线运动规划方法；4）利用微重力设施搭建实验平台，针对双臂稳定捕获-单臂维修（模块更换）过程开展地面实验验证，并对比数值仿真结果进行误差分析。本项目在变连接系统运动的数学描述方法方面有特色和创新，成果对于复杂空间操作实施具有重要的科学意义和应用价值。

对于多臂平台捕获目标后形成的空间变连接联合体，该结构具有变拓扑、强非线性特征，现有动力学建模、轨迹规划方法无法解决其结构/运动规划复杂性与精细/实时操作之间的矛盾。因此，针对以上背景，本项目：1）基于遗传变胞理论建立联合体动力学模型，将联合体运动通过模型解耦、配对得到系统运动流形，提出了面向构型空间和作业空间求解的动力学方程微分流形表征方法；2）充分考虑几何构态、参数不确定性和时空耦合演化规律，开展了联合体复杂外包络势场数学表征、操作安全区多尺度分析研究；3）揭示了变胞参数与动力学流形参数之间的复杂映射关系，求解出动态安全作业空间，提出了基于动力学变胞微分流形表征的短程线运动规划方法；4）利用微重力设施搭建实验平台，针对双臂稳定捕获-单臂维修（模块更换）过程开展了地面实验验证，并对比数值仿真结果进行误差分析。本项目在变连接系统运动的数学描述方法方面有特色和创新，相关成果技术已成功应用于我国多个卫星型号研制中，对于我国开展复杂空间操作实施具有重要的科学意义和应用价值。