Manual teleoperation rendezvous and docking(RVD)can serve as a contingency measure for autonomous RVD to approach unmanned spacecraft at a space station,aiming to enhance RVD reliability and safety.The functionality of manual teleoperation has been tailored specifically for use with both the Tianzhou Cargo Spaceship and the Tiangong Space Station.Given significant time delays,a system design addressing time delay control has been developed and validated using 9-degree-of-freedom hardware-in-the-loop simulations.Recognizing insufficient illumination from rendezvous lights over long distances or in shadowed areas,it is proposed that extravehicular floodlight is applied as target,and confirmed through close-range rendezvous tests.Furthermore,an emergency protocol along with an in-orbit testing plan have been devised based on designing switch relationships between manual teleoperation and automatic control systems.Notably,successful completion of manual teleoperation RVD in-orbit testing was achieved by the Tianzhou-2 Cargo Spaceship and the Tianhe Core Module under guidance from the Shenzhou-13 crew.
关键词
天舟货运飞船/天宫空间站/遥操作/交会对接/时延/九自由度半物理仿真
Key words
Tianzhou Cargo Spaceship/Tiangong Space Station/Teleoperation/Rendezvous and docking(RVD)/Time delay/9-degree-of-freedom hardware-in-loop simulation
维普
万方数据