System and method for synchronously controlling teleoperation

Abstract

The invention belongs to the technical field of space teleoperation and discloses a system and a method for synchronously controlling teleoperation. The system comprises an operator, a ground control center, a space system and uplink and downlink channels, wherein the ground control center is used for constructing a space system model, predicting uplink time delay in real time, generating a remote control instruction of a space robot according to a synchronous simulation state of the model, receiving and processing a feedback state of a space system at the same time, and correcting the remote control instruction according to the feedback state. The method comprises the steps as follows: constructing an equivalent model of the space system on the ground and carrying out synchronous simulation on the space system; and automatically generating the remote control instruction according to a synchronous simulation state, and synchronously controlling the equivalent model to finish automatic control of the space robot. Compared with the conventional space teleoperation mode, the decision of a ground system is adopted to replace dependence of the conventional mode on the decision of the space system or the operator, and the dual requirements for real-time performance and robustness of a space operation task are met.

Description

technical field [0001] The invention belongs to the technical field of space teleoperation control mode, and specifically relates to a control system and a method thereof for obtaining the synchronous simulation state of a space robot based on a ground-integrated space system model and implementing continuous and real-time teleoperation. Background technique [0002] Space teleoperation technology is a powerful means to extend and expand the intelligence and behavior of ground operators to space by manipulating on-orbit space robots to complete space operation tasks. In 1967, the Surveyor III lunar lander of the United States successfully completed the soil collection and force measurement tasks on the lunar surface, becoming the first human application of space robot teleoperation technology. In the following two decades, the research on space teleoperation technology mainly stayed at the theoretical level, during which the work of T.Sheridan, L.Penin and M.Spong et al. was...

AI Technical Summary

Problems solved by technology

The above three types of traditional teleoperation control modes either put the decision-making link in the space robot (autonomous teleoperation), because the limited intelligence level of the space robot reduces the robustness of teleoperation; or put the decision-making link in the operator (teleoperation). programming teleoperation and master-slave teleoperation), because the limited response speed of the operator reduces the real-time performance of teleoperation; therefore, none of them can meet the dual requirements of high robustness and strong real-time teleoperation at the same time, which is the traditional teleoperation control The main flaw of the pattern

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