采用势函数的三自由度气浮模拟器追逃策略

doi:10.12305/j.issn.1001-506X.2025.05.27

摘要/Abstract

摘要：

针对航天器近距离操作控制算法地面验证和空间近距离追逃问题, 开发三自由度(three degrees-of-freedom, 3-DOF)零重力气浮模拟器, 提出引入虚拟边界障碍物的势函数追踪策略和逃逸策略, 有效利用势函数的特性, 在追踪星抵近逃逸星的同时, 可实现对环境中障碍物的规避, 并且在有限的地面空间范围内约束双星的运动。实验结果表明，追踪星可实现对逃逸星的追踪, 与仿真结果一致, 证明了该实验台可用于航天器近距离机动控制算法的地面验证, 也证明了提出的追逃策略的有效性。

关键词: 气浮模拟器, 势函数, 追逃策略, 虚拟障碍物

Abstract:

Aiming at the problem of ground verification of spacecraft proximity operation algorithms and pursuit-evasion in close range, a three degrees-of-freedom (3-DOF) microgravity floating simulator is developed, and the pursuit strategy and evasion strategy based on potential function introducing virtual boundary obstacles are proposed. The proposed method makes use of the properties of potential function effectively to avoid obstacles in the environment while pursuing evader and constrains the motion in the limited ground space. The experimental results show that the pursuer can pursue the evader, and is consistent with the simulation results, and proves that the experimental platform can be used to test the maneuver control algorithm and also verifies the effectiveness of the proposed pursuit and evasion strategy based on potential function.

Key words: floating simulator, potential function, pursuit-evasion strategy, virtual obstacle

中图分类号:

V416.8

王创歌, 陈丹鹤, 廖文和. 采用势函数的三自由度气浮模拟器追逃策略[J]. 系统工程与电子技术, 2025, 47(5): 1655-1662.

Chuangge WANG, Danhe CHEN, Wenhe LIAO. Pursuit-evasion strategy of three degrees-of-freedom floating simulator using potential function[J]. Systems Engineering and Electronics, 2025, 47(5): 1655-1662.

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参数	值
包络尺寸(L×W×H)/m	0.3×0.3×0.5
质量/kg	11.2
转动惯量/(kg·m²)	0.11
推力大小/N	0.1
推力器力臂/m	0.1

参数	取值
k_a	1
k_r	1
Q_u	diag([0.028, 0.028])
Q_o	diag([0.01, 0.01])
P_o	diag(^{[5, 5]})
k_p	0.03
k_d	0.35

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