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航天结构空间组装动力学与控制研究进展

吴志刚 蒋建平 邬树楠 李庆军 王兴 谭述君 邓子辰

吴志刚, 蒋建平, 邬树楠, 李庆军, 王兴, 谭述君, 邓子辰. 航天结构空间组装动力学与控制研究进展. 力学进展, 2024, 54(2): 1-47 doi: 10.6052/1000-0992-23-041
引用本文: 吴志刚, 蒋建平, 邬树楠, 李庆军, 王兴, 谭述君, 邓子辰. 航天结构空间组装动力学与控制研究进展. 力学进展, 2024, 54(2): 1-47 doi: 10.6052/1000-0992-23-041
Wu Z G, Jiang J P, Wu S N, Li Q J, Wang X, Tan S J, Deng Z C. Review on dynamics and control of space structure in the process of on-orbit assembly. Advances in Mechanics, 2024, 54(2): 1-47 doi: 10.6052/1000-0992-23-041
Citation: Wu Z G, Jiang J P, Wu S N, Li Q J, Wang X, Tan S J, Deng Z C. Review on dynamics and control of space structure in the process of on-orbit assembly. Advances in Mechanics, 2024, 54(2): 1-47 doi: 10.6052/1000-0992-23-041

航天结构空间组装动力学与控制研究进展

doi: 10.6052/1000-0992-23-041
基金项目: 感谢国家自然科学基金(12372053, 12232015, 52005522, 11872381, 91748203)的支持.
详细信息
    作者简介:

    吴志刚 (1971—), 男, 博士, 教授, 博士生导师, 中山大学航空航天学院创院院长. 主要研究方向为航天器动力学与控制、空间机器人技术. 担任《宇航学报》等学术期刊编委, 中国宇航学会空间太阳能电站专委会委员、美国航空航天学会 (AIAA) 高级会员. 曾获国家科学技术进步二等奖和国防科学技术一等奖. 在《力学学报》《宇航学报》《航空学报》《AIAA Journal》《Journal of Guidance》《Control, and Dynamics》等学术期刊上发表论文200余篇, 已出版专著3部

    邓子辰 (1964—), 男, 博士, 教授, 博士生导师, 西北工业大学航空学院/极端力学研究院教授, “复杂系统动力学与控制”工信部重点实验室主任, 教育部“长江学者特聘教授”. 近年来一直从事计算力学与控制理论交叉学科及其Hamilton动力系统的辛数值方法研究, 并有效地将研究成果应用于非线性系统动力学、柔性多体系统动力学、航天系统动力学、先进复合材料优化设计等领域. 先后主持40余项国家及省部级科研项目. 发表论文320余篇, 出版学术专著5部, 获省部级科技奖励5次. 目前主要学术兼职包括: 国务院学科评议组力学学科成员, 教育部力学专业指导委员会委员, 国际计算力学学会理事, 中国力学学会动力学与控制专业委员会副主任, 中国力学学会计算力学专业委员会副主任, 《固体力学学报》 (中文版), 《应用数学和力学》 (中文版) 副主编, 国内外10余个学术刊物的编委

    通讯作者:

    dweifan@nwpu.edu.cn

  • 中图分类号: V423.9

Review on dynamics and control of space structure in the process of on-orbit assembly

More Information
  • 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.

     

  • 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  7  空间太阳能电站的迭代学习控制示意图

    图  8  空间太阳能电站的“三体两级一体化”控制框架

    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  10  组装过程中结构振动的分布式自适应神经网络协同控制

    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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