Design and Verification of Manual Teleoperation Rendezvous and Docking of China's Tianzhou Cargo Spaceship
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.
Tianzhou Cargo SpaceshipTiangong Space StationTeleoperationRendezvous and docking(RVD)Time delay9-degree-of-freedom hardware-in-loop simulation
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