Review on dynamics and control of space structure in the process of on-orbit assembly
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摘要: 空间组装是建造空间站、大型卫星天线、大口径空间望远镜、空间太阳能电站等大型和超大型航天结构的重要手段. 然而, 航天结构组装过程将面临构型增长、参数变化、轨道-姿态-结构耦合、接触碰撞等复杂的动力学与控制问题, 给精准、高效、稳定完成组装任务带来挑战. 本文介绍了大型航天结构的动力学建模方法、超大型航天结构特殊的动力学现象、航天结构空间组装过程的动力学建模研究现状; 综述了航天结构在轨运行阶段的控制方法、空间组装过程的组装序列规划方法、姿态控制与振动抑制方法研究进展; 总结了航天结构组装过程动力学与控制地面模拟试验中的重力卸载、缩比模型设计与试验、非线性与不确定性试验等关键技术. 最后, 面向未来千米量级超大型航天结构空间组装需求, 针对组装过程中结构尺寸、质量和力学参数跃变等特性提出了当前研究工作中亟须解决的几类动力学与控制问题.Abstract: On-orbit assembly is a crucial means to construct large and ultra-large space structures such as space stations, large satellite antennas, large-aperture space telescopes, and space solar power stations. However, complicated dynamics and control problems, such as the configuration increasement, parameter variations, orbit-attitude-structure coupled effects, and contact problems, will be encountered during the process of on-orbit assembly and bring challenges to accomplishing the assembly task accurately, efficiently, and safely. The development status of dynamic modelling methods of large space structures, special dynamic phenomena of ultra-large space structures, and dynamic modelling studies of space structures during on-orbit assembly process were reviewed. Then, the control methods of the on-orbit operation stage, the assembly sequence planning methods, and the control methods for the on-orbit assembly process were introduced. In addition, the key techniques of gravity unloading, scale model design and testing, nonlinearity and uncertainty quantification techniques with ground tests in the assembly process were summarized. Finally, to address the increasing configuration and discontinuously varying parameters of the ultra-large space structures during on-orbit assembly process, a few suggestions were put forward to deal with the dynamic and control problems.
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图 1 超大型航天器概念. (a) 多旋转关节空间太阳能电站(侯欣宾 等 2015), (b) 自由漂浮空间太阳能电站(Chen et al. 2023), (c) 超大型太空反射镜(Viale et al. 2023), (d) 人工重力场航天器(Li et al. 2019a)
图 2 大型航天结构空间组装过程. (a) 模块自组装过程(Chen & Wen 2018), (b) 机械臂组装天线结构的过程(Li et al. 2019c)
图 3 大型空间望远镜设计方案与组装方案(Lee et al. 2016). (a) 总体设计方案, (b) 主反射镜组装流程, (c) 空间机器人组装主反射镜支撑桁架
图 4 超大型空间太阳能电站空间组装方案(Cheng et al. 2016). (a) 发射与轨道转移阶段, (b) 在轨展开、机器人协同运输和协同组装阶段, (c) 多模块组装过程
图 5 不同组装序列的结构一阶固有频率跃变现象(Wang et al. 2022)
图 6 超大型航天结构空间组装过程轨道-姿态-结构耦合动力学分析示意图(符康琦 等 2023)
图 9 航天结构空间组装序列规划任务. (a) 结构基频最大化的组装序列, (b) 组装总路径最短的组装序列(刘谋怀 2022), (c) 组装机器人运动路径规划(罗建军 等 2021)
图 11 组装过程的动力学与控制试验系统. (a) 带移动导轨的工业机械臂组装航天器的试验系统(Ma et al. 2012), (b)带移动基座的双臂机器人组装刚性模块的试验系统(Lee et al. 2016, Karumanchi et al. 2018), (c) 气浮双臂机器人协同组装柔性结构的试验系统(Boning & Dubowsky 2010)
图 12 中山大学第一代大型柔性结构组装动力学地面试验装置(Lin et al. 2022)
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