A human-machine shared control method and device

Abstract

The application provides a man-machine shared control method and device, and relates to the technical field of aerospace. The method comprises the following steps: obtaining artificial control force and artificial control torque, generating an artificial control signal according to the artificial control force and the artificial control torque; generating a machine control signal according to parameters of a tracking spacecraft and parameters of a target spacecraft; and combining the artificial control signal and the machine control signal to perform man-machine shared control. According to the man-machine shared control of the artificial control signal and the machine control signal, the tracking spacecraft can accurately track the position and the attitude of the target spacecraft in the process of rendezvous and docking.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aerospace technology, in particular to a man-machine shared control method and device. BACKGROUND

[0002] The spacecraft rendezvous and docking task can be roughly divided into a long-distance guidance stage, a short-distance guidance stage, an approaching stage, and finally a closing and docking stage. When the tracking spacecraft completes the short-distance guidance and enters the final approaching stage, it is only tens of meters away from the target spacecraft. The main control task of this stage is to control the tracking spacecraft to move to the rendezvous point and reduce the relative speed to zero. In addition to the requirement for controlling the relative position, the attitude of the tracking spacecraft also needs to be controlled, and the docking interface or capture manipulator of the tracking spacecraft needs to be aligned with the target.

[0003] In this field, a large number of achievements and breakthroughs have been made in the research of full-automatic control technology at home and abroad. Many nonlinear control methods such as adaptive control and finite-time control are widely used in spacecraft control to solve complex control problems such as spacecraft uncertainty, disturbance, actuator failure and saturation. However, due to the complex and unstructured deployment environment of spacecraft, the use of full-automatic control technology is limited to some extent. Full-manual autonomous control technology, such as teleoperation technology, is currently widely used in spacecraft rendezvous and docking tasks. However, due to communication delay, complex dynamics environment in outer space and more unknowns, the errors generated by this technology will inevitably cause problems in the above tasks that cannot be ignored.

[0004] Therefore, how to reduce the influence of uncontrollable outer space environment on spacecraft rendezvous and docking has become a technical problem that needs to be solved at present. SUMMARY

[0005] In order to solve the technical problem of spacecraft rendezvous and docking control under the outer space environment in the prior art, the embodiments of the present application provide a man-machine shared control method and device. The technical solution is as follows:

[0006] On the one hand, a man-machine shared control method is provided, and the method is used for spacecraft rendezvous and docking, and the method comprises:

[0007] Obtaining manual control force and manual control torque, generating a manual control signal according to the manual control force and the manual control torque;

[0008] Generating a machine control signal according to the parameters of the tracking spacecraft and the parameters of the target spacecraft;

[0009] Combining the manual control signal and the machine control signal, man-machine shared control is performed.

[0010] Optionally, the generating the machine control signal according to the parameters of the chaser spacecraft and the parameters of the target spacecraft is performed by:

[0011] According to the formula generating the machine control signal, wherein is the machine control signal, λ1∈R 6×6 , λ2∈R 6×6 , each value in the matrix is greater than or equal to 0, d = Tx1+K, is the interference value of the machine control, wherein e0∈R and e v = [e v1 , e v2 , e v3 ] T ∈R 3 respectively represent the scalar part and the vector part of the error quaternion of the chaser spacecraft relative to the target spacecraft, is the cross product matrix of e v , which is expressed as ω e = ω - Cω d ∈R 3 is the relative angular velocity of the chaser spacecraft relative to the target spacecraft, wherein ω∈R 3 represents the body angular velocity of the spacecraft, ω d ∈R 3 represents the desired angular velocity of the spacecraft, is the cross product matrix of ω e , and C is the attitude rotation matrix of the spacecraft body coordinate system relative to the desired coordinate system, which satisfies the formula F max is the maximum thrust module, m is the mass of the chaser spacecraft, I is a three-order unit matrix, g(ω e ) = J -1 , wherein J∈R 3×3 is the spacecraft rotational inertia matrix, wherein θ is the true anomaly, is the orbital angular velocity of the target spacecraft, is the orbital angular acceleration of the target spacecraft, R T is the distance vector of the target spacecraft relative to the geocentric inertial coordinate system, R t =‖R T ‖ is the module of R T , R = [x, y, z] TFor the distance vector from the target spacecraft to the tracking spacecraft, x, y, z respectively represent the distance of the target spacecraft to the tracking spacecraft in x, y, z three axes, the above variables satisfy μ = 3.986 × 10 14 m 3 / s 2 is the gravitational constant of the earth, e is the eccentricity of the elliptical orbit, a is the semi-major axis of the elliptical orbit, and are error variables, b is a virtual control variable;

[0012] The combination of the artificial control signal and the machine control signal carries out human-machine shared control, which is executed in the following way:

[0013] The combination of the artificial control signal and the machine control signal carries out human-machine shared control according to the formula Human-machine shared control, wherein u(t) is the total control input of human-machine shared control, I 6×6 is a six-order unit matrix, V h is a composite control parameter, Wherein I 3×3 is a three-order unit matrix, represents the angular displacement of the artificial joystick in x, y, z three axes based on the relative attitude control of the tracking spacecraft and the target spacecraft, k 1s >0 is the spring force coefficient of the joystick, represents the angular displacement of the artificial joystick in x, y, z three axes based on the relative position control of the tracking spacecraft and the target spacecraft, k 2s >0 is the spring force coefficient of the joystick, is the machine control signal, is the artificial control signal.

[0014] Optionally, the artificial control force comprises:

[0015] According to the formula The artificial control force is obtained, wherein, is the artificial control force, k 2h >0 is a constant, is the maximum angular displacement of the artificial joystick for the relative position control of the tracking spacecraft and the target spacecraft, represents the angular displacement of the joystick in x, y, z three axes.

[0016] Optionally, the artificial control torque comprises:

[0017] According to the formula The artificial control torque is obtained, wherein, is the artificial control torque, k 1h >0 is a constant, is the maximum angular displacement of the artificial control stick for controlling the relative attitude of the chaser spacecraft and the target spacecraft, represents the angular displacement of the control stick in the x, y, and z directions.

[0018] Optionally, the artificial control signal is generated according to the artificial control force and the artificial control torque, comprising:

[0019] According to the artificial control force and the artificial control torque, the artificial control signal is generated by the formula wherein, is the artificial control signal, the is the artificial control torque, the is the artificial control force.

[0020] Optionally, the method further comprises:

[0021] determining a rendezvous and docking motion composite model of the spacecraft rendezvous and docking;

[0022] simulating the rendezvous and docking of the two spacecraft according to the rendezvous and docking motion composite model;

[0023] wherein, the rendezvous and docking motion composite model is:

[0024]

[0025] wherein, the attitude quaternion error vector part of the two spacecraft is combined with the relative position error, and x and x respectively represent the first and second order derivatives of x with respect to time,

[0026] D = Tx1 + K,

[0027] u = [τ T , f T ] T is the machine control signal in the spacecraft rendezvous and docking process, is the composite disturbance received in the spacecraft rendezvous and docking process. For Q, there is a normal number such that e0∈R and e v = [e v1 , e v2 , e v3] T ∈R 3 respectively represent the scalar part and the vector part of the error quaternion of the chaser spacecraft relative to the target spacecraft, for e v is the cross product matrix of ω ω e = ω - Cω d ∈R 3 is the relative angular velocity of the chaser spacecraft relative to the target spacecraft, where ω 3 represents the body angular velocity of the spacecraft, ω d ∈R 3 represents the desired angular velocity of the spacecraft, for ω e is the cross product matrix of ω C is the attitude rotation matrix of the spacecraft body frame relative to the desired frame, which satisfies the formula F max is the maximum thrust module, m is the mass of the chaser spacecraft, I is a three-order unit matrix, g(ω e ) = J -1 , where J 3×3 ∈R is the spacecraft moment of inertia matrix, where θ is the true anomaly, is the orbital angular velocity of the target spacecraft, is the orbital angular acceleration of the target spacecraft, R T is the distance vector of the target spacecraft relative to the geocentric inertial coordinate system, R t = ‖R T ‖ is the module of R T , R = [x, y, z] T is the distance vector from the target spacecraft to the chaser spacecraft, x, y, z respectively represent the distance of the target spacecraft to the chaser spacecraft in the x, y, z three axes, μ = 3.986 × 10 14 m 3 / s 2 is the geocentric gravitational constant, e is the eccentricity of the elliptical orbit, a is the semi-major axis of the elliptical orbit.

[0028] Optionally, the method further comprises:

[0029] determining that the disturbance observer model of the rendezvous and docking motion composite model is

[0030]

[0031] where z is the internal state of the nonlinear observer, denotes the first order derivative of z with respect to time, denotes the observation of the disturbance, p(x2) = k0Q -1 x2, l(x2) = k0Q -1 , k0∈R 6×6 is an observer coefficient matrix;

[0032] outputting, according to the disturbance observer model, a disturbance observation result of the rendezvous and docking motion compound model, and taking the output of the disturbance observer model as a disturbance value of the machine control to perform the human-machine shared control.

[0033] In another aspect, a human-machine shared control device is provided, which is used to implement the human-machine shared control method provided by the embodiments of the present application, and the device comprises:

[0034] an acquisition module, configured to acquire an artificial control force and an artificial control torque, and generate an artificial control signal according to the artificial control force and the artificial control torque;

[0035] a generation module, configured to generate a machine control signal according to parameters of the tracking spacecraft and parameters of the target spacecraft;

[0036] a control module, configured to perform human-machine shared control by combining the artificial control signal and the machine control signal.

[0037] In another aspect, a human-machine shared control device is provided, which comprises:

[0038] a processor;

[0039] a memory, on which computer readable instructions are stored, and the computer readable instructions are executed by the processor to implement the method provided by the embodiments of the present application.

[0040] In another aspect, a computer readable storage medium is provided, in which program codes are stored, and the program codes can be called by a processor to execute the method provided by the embodiments of the present application.

[0041] The technical solutions provided by the embodiments of the present application have at least the following beneficial effects:

[0042] The embodiments of the present application acquire an artificial control force and an artificial control torque, generate an artificial control signal according to the artificial control force and the artificial control torque, generate a machine control signal, and perform human-machine shared control according to the artificial control signal and the machine control signal, so that accurate position tracking and attitude tracking of a target spacecraft by a tracking spacecraft in a rendezvous and docking process are realized. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0044] Figure 1 is a man-machine shared control method flow chart provided by the embodiment of the present application;

[0045] Figure 2 is a curve graph of the shared control and artificial control of the spacecraft relative orbit motion system by the artificial shared controller designed based on the convex exponential function in the embodiment of the present application with time;

[0046] Figure 3 is a curve graph of the shared control and artificial control of the spacecraft attitude tracking system by the artificial shared controller designed based on the convex exponential function in the embodiment of the present application with time;

[0047] Figures 4a-4b is a curve graph of the observation value of the compound disturbance based on the disturbance observer with time when the spacecraft rendezvous and docking is disturbed by the external disturbance and model uncertainty in the embodiment of the present application;

[0048] Figure 5 is a curve graph of the observation error of the relative orbit motion and attitude tracking system with time when the spacecraft rendezvous and docking in the embodiment of the present application;

[0049] Figures 6a-6c is a curve graph of the relative position error and relative velocity error of the tracking spacecraft and target spacecraft with time in the embodiment of the present application;

[0050] Figures 7a-7b is a curve graph of the attitude position error and attitude angular velocity error of the tracking spacecraft with time in the embodiment of the present application;

[0051] Figure 8 is a man-machine shared control device block diagram provided by the embodiment of the present application;

[0052] Figure 9 is a structure schematic diagram of a man-machine shared control device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0053] The technical solutions in the present application will be described below with reference to the drawings.

[0054] In the embodiments of the present application, the words such as "example", "for example" and the like are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the word "example" is intended to present the concept in a specific manner. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two.

[0055] In the embodiments of the present application, "image" and "picture" can be used interchangeably at times, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized. "Of", "corresponding" and "corresponding" can be used interchangeably at times, and it should be pointed out that the meanings expressed are consistent when the distinction is not emphasized.

[0056] In the embodiments of the present application, sometimes the subscript such as W1 can be mistakenly used in the form of non-subscript such as W1, and the meanings expressed are consistent when the distinction is not emphasized.

[0057] In order to make the technical problems, technical schemes and advantages to be solved by the present application more clear, the following will be described in detail in combination with the drawings and specific embodiments.

[0058] The embodiments of the present application provide a man-machine shared control method, which is used for spacecraft rendezvous and docking, as shown in Figure 1 The method comprises the following steps:

[0059] S1, obtaining an artificial control force and an artificial control torque, and generating an artificial control signal according to the artificial control force and the artificial control torque;

[0060] S2, generating a machine control signal according to parameters of a tracking spacecraft and parameters of a target spacecraft;

[0061] S3, combining the artificial control signal and the machine control signal to perform man-machine shared control.

[0062] The machine control signal is generated according to the parameters of the tracking spacecraft and the parameters of the target spacecraft, and is executed in the following manner:

[0063] The machine control signal is generated according to the formula , wherein λ1∈R 6×6 , λ2∈R 6×6 , each value in the matrix is greater than or equal to 0, and D = Tx1+ K. is an interference value for machine control, wherein e0∈R and e v v1 v2 v3 T ∈R 3 denote the scalar and vector parts of the error quaternion of the chaser spacecraft relative to the target spacecraft, respectively, is the cross product matrix of e v , which is expressed as ω e = ω - Cω d ∈R 3 is the relative angular velocity of the chaser spacecraft relative to the target spacecraft, where ω∈R 3 denotes the body angular velocity of the spacecraft, ω d ∈R 3 denotes the desired angular velocity of the spacecraft, is the cross product matrix of ω e , C is the attitude rotation matrix of the spacecraft body frame relative to the desired frame, which satisfies the formula F max is the maximum thrust module, m is the mass of the chaser spacecraft, I is a three-order unit matrix, g(ω e ) = J -1 , where J∈R 3×3 is the spacecraft rotational inertia matrix, where θ is the true anomaly, is the orbital angular velocity of the target spacecraft, is the orbital angular acceleration of the target spacecraft, R T is the distance vector of the target spacecraft relative to the geocentric inertial coordinate system, R t =‖R T ‖ is the module of R T , R = [x, y, z] T is the distance vector from the target spacecraft to the chaser spacecraft, x, y, z represent the distances of the target spacecraft to the chaser spacecraft in the x, y, z three axes, respectively, and the above variables satisfy μ = 3.986 × 10 14 m 3 / s 2 is the geocentric gravitational constant, e is the eccentricity of the elliptical orbit, a is the semi-major axis of the elliptical orbit, and are error variables, b is a virtual control variable.

[0064] ​​​​The artificial control signal and the machine control signal are combined to perform human-machine shared control, which is executed in the following manner:

[0065] The artificial control signal and the machine control signal are combined according to the formula The human-machine shared control is performed, wherein I 6×6 is a six-order unit matrix, V h is a composite control parameter, wherein I 3×3 is a three-order unit matrix, represents the angular displacement of the artificial joystick in the x, y, and z axial directions based on the relative attitude control of the tracking spacecraft and the target spacecraft, k 1s >0 is the spring constant of the joystick, represents the angular displacement of the artificial joystick in the x, y, and z axial directions based on the relative position control of the tracking spacecraft and the target spacecraft, k 2s >0 is the spring constant of the joystick, is the machine control signal, is the artificial control signal.

[0066] Optionally, the artificial control force is obtained by:

[0067] According to the formula The artificial control force is obtained, wherein k 2h >0 is a constant, is the maximum angular displacement of the artificial joystick based on the relative position control of the tracking spacecraft and the target spacecraft, represents the angular displacement of the joystick in the x, y, and z axial directions.

[0068] Optionally, the artificial control torque is obtained by:

[0069] According to the formula The artificial control torque is obtained, wherein k 1h >0 is a constant, is the maximum angular displacement of the artificial joystick based on the relative attitude control of the tracking spacecraft and the target spacecraft, represents the angular displacement of the joystick in the x, y, and z axial directions.

[0070] Optionally, the artificial control signal is generated based on the artificial control force and the artificial control torque, which comprises:

[0071] According to the artificial control force and the artificial control torque, an artificial control signal is generated by a formula wherein the artificial control signal is generated according to the artificial control force and the artificial control torque, the artificial control torque is generated according to the artificial control force and the relative position error, and the artificial control force is generated according to the artificial control torque and the relative position error. wherein the artificial control signal is generated according to the artificial control force and the artificial control torque, the artificial control torque is generated according to the artificial control force and the relative position error, and the artificial control force is generated according to the artificial control torque and the relative position error. wherein the artificial control signal is generated according to the artificial control force and the artificial control torque, the artificial control torque is generated according to the artificial control force and the relative position error, and the artificial control force is generated according to the artificial control torque and the relative position error.

[0072] Optionally, the method further comprises:

[0073] determining a rendezvous and docking motion composite model of the spacecraft rendezvous and docking;

[0074] simulating the rendezvous and docking of the two spacecraft according to the rendezvous and docking motion composite model;

[0075] wherein the rendezvous and docking motion composite model is:

[0076]

[0077] wherein, the attitude quaternion error vector part of the two spacecraft is combined with the relative position error, and respectively represent the first and second order derivatives of x with respect to time,

[0078] D = Tx1 + K,

[0079] u = [τ T , f T ] T is a machine control signal in the spacecraft rendezvous and docking process, is a composite disturbance in the spacecraft rendezvous and docking process. For Q, there is a normal number such that e0∈R and e v = [e v1 , e v2 , e v3 ] T ∈R 3 respectively represent the scalar part and the vector part of the error quaternion of the tracking spacecraft relative to the target spacecraft, is the cross multiplication matrix of e v , which is expressed as ω e = ω - Cω d ∈R 3 is the relative angular velocity of the tracking spacecraft relative to the target spacecraft, wherein ω ∈ R 3 represents the body angular velocity of the spacecraft, ω d ∈R 3 represents the desired angular velocity of the spacecraft, is ω ethe cross product matrix of v, denoted as C is the attitude rotation matrix of the spacecraft body frame relative to the desired coordinate frame, which satisfies the formula F max is the maximum thrust module, m is the mass of the tracking spacecraft, I is a three-order unit matrix, g(ω e ) = J -1 , where J ∈ R 3×3 is the spacecraft moment of inertia matrix, where θ is the true anomaly, is the orbital angular velocity of the target spacecraft, is the orbital angular acceleration of the target spacecraft, R T is the distance vector of the target spacecraft relative to the geocentric inertial coordinate system, R t =‖R T ‖ is the module of R T , R = [x, y, z] T is the distance vector from the target spacecraft to the tracking spacecraft, x, y, and z represent the distances of the target spacecraft to the tracking spacecraft in the x, y, and z axes, respectively, μ = 3.986 × 10 14 m 3 / s 2 is the geocentric gravitational constant, e is the eccentricity of the elliptical orbit, and a is the semi-major axis of the elliptical orbit.

[0080] Optionally, the method further comprises:

[0081] determining that the disturbance observer model of the rendezvous and docking motion composite model is

[0082]

[0083] where z is the internal state of the nonlinear observer, denotes the first-order derivative of z with respect to time, denotes the observation value of the disturbance, p(x2) = k0Q -1 x2, l(x2) = k0Q -1 , k0 ∈ R 6×6 is the observer coefficient matrix;

[0084] outputting the disturbance observation result of the rendezvous and docking motion composite model according to the disturbance observer model.

[0085] Optionally, the method further comprises:

[0086] output of the disturbance observer model as the disturbance value of the machine control to perform human-machine shared control.

[0087] The technical scheme provided by the embodiment of the application has at least the following beneficial effects:

[0088] The embodiment of the application acquires the artificial control force and the artificial control torque, generates an artificial control signal according to the artificial control force and the artificial control torque, and generates a machine control signal, and then performs human-machine shared control according to the artificial control signal and the machine control signal, so that accurate position tracking and attitude tracking of a target spacecraft by a tracking spacecraft are realized in the rendezvous and docking process.

[0089] The feasibility of the human-machine shared control formula provided by the embodiment of the application has been verified, and specific reference can be made to the following steps:

[0090] First, a relative orbit dynamics model in the rendezvous and docking process of the two spacecraft is established according to the transformation relationship between the inertial coordinate system and the LVLH coordinate system.

[0091] Further, an attitude quaternion dynamics model and an attitude quaternion kinematics model of the two spacecraft in the rendezvous and docking process are established.

[0092] Further, the attitude quaternion dynamics model and the attitude quaternion kinematics model are combined to construct a rendezvous and docking motion model.

[0093] Further, an interference observer is designed to estimate the compound interference composed of model uncertainty and external disturbance.

[0094] Further, a compound controller for orbit tracking and attitude stabilization is designed based on the backstepping method.

[0095] Further, a human control input is proposed, and a human-machine shared controller is designed based on the method of convex exponential function pair, to realize free switching of control right between the human and the automatic control system.

[0096] In order to better understand the human-machine shared control method for spacecraft rendezvous and docking relative attitude and orbit tracking based on the interference observer and the backstepping method provided by the embodiment of the application, the following will be described in detail:

[0097] First, a relative orbit dynamics model in the rendezvous and docking process of the two spacecraft is established according to the transformation relationship between the inertial coordinate system and the LVLH coordinate system.

[0098] R C is the distance vector of the tracking spacecraft relative to the inertial coordinate system, R c =‖R C ‖ is the modulus of R C ; a f is the acceleration of the tracking spacecraft, μ=3.986×10 14 m 3 / s 2is the gravitational constant. The motion equation of the chaser spacecraft is

[0099]

[0100] Similarly, define R T as the distance vector of the target spacecraft relative to the earth-centered inertial coordinate system, R t =‖R T ‖ is the norm of R T , then the motion equation of the target spacecraft is

[0101]

[0102] The distance vector from the target spacecraft to the chaser spacecraft is R = R C - R t = [x, y, z] T , r =‖R‖ is the norm of R, then the relative orbit dynamics equation of the chaser spacecraft and the target spacecraft is

[0103]

[0104] Define the true anomaly θ, then the target spacecraft runs at the orbital angular velocity . Let R x =‖R y ‖ is the norm of R z , then the second derivative of R with respect to time is

[0105]

[0106] where, is the absolute derivative in the inertial coordinate system, is the derivative in the LVLH coordinate system.

[0107] Project its relative orbit dynamics equation from the inertial coordinate system to the LVLH coordinate system, let f = [f x , f y , f z ] T , finally we can get the relative orbit dynamics equation of the chaser spacecraft and the target spacecraft in the LVLH coordinate system:

[0108]

[0109] where m is the mass of the chaser spacecraft, since the thruster operates during the spacecraft approaching process, it will consume fuel, so the mass is constantly decreasing, its derivative with respect to time F max is the maximum thrust norm, I sp is the unit pulse of the thruster of the chaser spacecraft, g is the gravitational acceleration; f x , fy f z represents the control input component generated by the thrust f acting on the tracking spacecraft.

[0110] Since the target spacecraft operates on an elliptical orbit, the distance from the mass center to the earth center and the true anomaly value are variable, and the orbit parameters satisfy the following constraints:

[0111]

[0112]

[0113] where a and e are the semi-major axis and eccentricity of the elliptical orbit, respectively.

[0114] In the case of considering external disturbance, the orbit dynamics model of two-spacecraft rendezvous and docking is rewritten as:

[0115]

[0116] where

[0117]

[0118] and

[0119]

[0120] d r is the external bounded disturbance.

[0121] Further, the attitude quaternion dynamics model and the attitude quaternion kinematics model of the double spacecraft in the process of rendezvous and docking are established.

[0122] The attitude quaternion of the tracking spacecraft is defined as: q b = [q b0 , q bv T ] T ; the attitude quaternion of the target spacecraft is defined as: q d = [q d0 , Q dv T ] T ; the error quaternion of the tracking spacecraft relative to the target spacecraft is defined as e = [e0, e v T ] T , then

[0123] The relative angular velocity of the tracking spacecraft relative to the target spacecraft is defined as: ω e = ω - Cω d , where ω ∈ R 3denotes the body angular velocity of the spacecraft, ω d ∈ R 3 denotes the desired angular velocity of the spacecraft, C ∈ R 3×3 denotes the attitude rotation matrix of the spacecraft body coordinate system relative to the desired coordinate system, which satisfies:

[0124]

[0125] The attitude quaternion kinematics model of the two spacecrafts is established as:

[0126]

[0127] wherein, and ‖E(e v )‖ = 1.

[0128] Considering the model uncertainty and external bounded disturbance, the attitude quaternion dynamics model of the two spacecrafts is established as:

[0129]

[0130] wherein, τ ∈ R 3 is the system control torque, d l ∈ R 3 is the external bounded disturbance, is the spacecraft moment of inertia matrix, and J is symmetric positive definite, there is a constant J * , satisfying ‖J‖≤J * .

[0131] The model uncertainty parameters and external disturbances are regarded as a compound disturbance, and the attitude quaternion dynamics model of the two spacecrafts is:

[0132]

[0133] wherein, g(ω e ) = J -1 , is the compound disturbance.

[0134] Further, the rendezvous and docking motion model is constructed by combining the attitude quaternion dynamics model and the attitude quaternion kinematics model.

[0135] The vector part of the attitude error quaternion and the relative position error of the two spacecrafts are combined to represent, let then

[0136] According to the attitude quaternion kinematics model of the two spacecrafts, it is obtained that

[0137]

[0138] According to the orbit dynamics model and the attitude quaternion dynamics model of the two spacecrafts in the RVD, the compound model of the two spacecrafts in the RVD is obtained:

[0139] Let x1=x, The compound model of the two spacecrafts in the RVD is expressed by the state space method:

[0140]

[0141] where

[0142] D=T x1+K,

[0143] u=[τ T ,f T ] T is the compound control input in the RVD of the spacecraft, is the compound disturbance in the RVD of the spacecraft. For Q, there is a constant such that

[0144] Here, the derivative of the compound disturbance with respect to time is unknown and time-varying but bounded, and there is a constant p>0 that satisfies

[0145] Further, a disturbance observer is designed to estimate the compound disturbance composed of model uncertainty and external disturbance.

[0146] The complexity of the real world makes the automatic control system face various disturbances when it is running, such as the influence of the environment on the control system and the disturbance caused by the non-ideal characteristics of the equipment itself. The existence of these disturbances makes the performance of the control system deviate from the expectation, so when the controller is designed, the disturbance needs to be attenuated or suppressed. The disturbance observer provides a way to solve the problem: when the disturbance exists and enters the controlled system together with the control input, it causes the system output to deviate from the case without disturbance. Therefore, the information provided by the model of the controlled object in the case without disturbance should be combined with the control input and the disturbed control output, so that the unknown disturbance can be calculated.

[0147] The introduction of disturbance observer lays the foundation for the control based on disturbance observer. The latter, under the framework of two-degree-of-freedom control system, feeds forward the observed unknown disturbance to the control input, and the control input and unknown disturbance enter the system in the same channel, i.e. matched disturbance can be directly compensated. In motion control system, the disturbance is mostly external load or friction, and when the control input is force / torque, it is matched disturbance, and when the control input is voltage, it is unmatched disturbance, thereby reducing or eliminating the influence of unknown disturbance on the system.

[0148] For the composite model of two-spacecraft rendezvous and docking motion, the disturbance observer is designed as:

[0149]

[0150] where z is the internal state of the nonlinear observer, and p(x2) is designed as:

[0151] p(x2) = k0Q -1 x2

[0152] then k0∈R 6×6 is the observer coefficient matrix.

[0153] Define the observation error of disturbance: then The derivative with respect to time is:

[0154]

[0155] This parameter is directly used in stability analysis.

[0156] Further, the composite controller for orbit tracking and attitude stabilization is designed based on backstepping method.

[0157] Define the error variable z1 = x, Design Lyapunov function Take the derivative with respect to time:

[0158]

[0159] Design virtual control b = -λ1z1, then

[0160] Design Lyapunov function Take the derivative with respect to time:

[0161]

[0162] Design composite control input Substitute the above formula can be obtained:

[0163]

[0164] Where λ1∈R 6×6 , λ2∈R 6×6 , the values in the matrix are greater than or equal to 0.

[0165] Since the disturbance d is unknown, the observation value is used instead of d, instead of u, the composite control input is obtained:

[0166]

[0167] For the above system, the Lyapunov function is designed, and the derivative with respect to time is:

[0168]

[0169]

[0170] Using Young's inequality, we get:

[0171]

[0172] Where,

[0173] Consider the compact set Define μ>0, then

[0174]

[0175] Where

[0176] By choosing k0, λ1, λ2 appropriately, so that satisfies According to Lyapunov stability theorem, the above system is asymptotically stable.

[0177] Further, based on the method of convex exponential function pair, a human-machine shared controller is designed to realize the free switching of control right between human and automatic control system.

[0178] In the design of artificial controller, two spherical joysticks are used to provide artificial control input in practice, at this time a single joystick provides x, y, z three axis force. At the same time, the joystick does not support any active force feedback to the user, on the contrary, it is designed with internal spring, which can make the joystick handle return to its initial position when released. In this invention, artificial control is simulated by numerical input, assuming that the force applied by the user and the angular displacement x 1h of the joystick handle is linearly proportional, that is

[0179] f 1h =k 1s x 1h

[0180] where k 1s >0 is the spring coefficient, Indicates the angular displacement of the three axes x, y, and z.

[0181] Manual control input signal with x 1h The relationship is as follows:

[0182]

[0183] where k 1h >0 is a constant, is the maximum angular displacement of the joystick, Here, it represents the input control torque.

[0184] In the field of remote control, an assumption is often used: the system is passive in the analysis of remote operating systems. Mathematically, it can be expressed as:

[0185] ∫0 t (f 1h T x 1hd -f e T x2)dt≥0

[0186] where f e is the external force exerted by the environment, and

[0187] Since the system does not manipulate its environment, there are no external forces acting on the system (except disturbances which will be counteracted by the controller), and human input is passive, so

[0188]

[0189] When the joystick angular displacement ‖x 1h When ‖≠0, V h >0, if and only if ‖x 1h When ‖=0, V h =0, which makes it easy to measure the intention of human control systems.

[0190] design Represents the input control force. Similar to the above formula, is used to perform spacecraft attitude control. Then the artificial compound control design is Similarly, design The composite control parameters are:

[0191] where I 3×3 is a third-order identity matrix, in the design of human-machine shared controller, the overall control input can be simply defined as:

[0192] K c +K h =I 6×6

[0193] The application considers K c and K h are related to the degree of human intervention, the mixing of control input is carried out by using a convex exponential function of parameter V h , and the human-machine shared controller can be designed as:

[0194]

[0195] In this way, the control right can be freely switched between human and automatic control system.

[0196] Then, the effectiveness of the spacecraft rendezvous docking relative attitude and orbit tracking human-machine shared control method provided by the embodiment is verified by computer numerical simulation, and the simulation platform is based on Matlab software under the win11x64 bit operating system.

[0197] The physical parameters of the tracking spacecraft are considered to be:

[0198] m=1000(kg)

[0199] F max =350(N)

[0200] I sp =2.2×10 2 (s)

[0201]

[0202] The orbit parameters of the target spacecraft are:

[0203] a=1.062469753×10 8 (m)

[0204] e=0.798788

[0205] μ=3.98600436×10 14 (m 3 / s 2 )

[0206] θ=0(rad)

[0207] The gravity acceleration is: g = 9.8 (m / s 2 ).

[0208] The initial values of the spacecraft body attitude, the desired attitude and the body angular velocity are respectively:

[0209] q b (0) = [0.3, -0.2, 0.3, 0.8832] T

[0210] q d (0) = [0.7, 0.5, 0.4123, 0.3] T

[0211] ω(0) = [0.1, 0, -0.1] T (rad / s)

[0212] The expression of the desired angular velocity of the spacecraft is:

[0213] ω d (t) = [0.05sin(0.1t), 0.1sin(0.2t), 0.15sin(0.3t)] T (rad / s)

[0214] The initial values of the relative position and the relative velocity between the spacecraft and the target spacecraft are respectively:

[0215] R(0) = [80, -45, 5] T (m)

[0216]

[0217] The initial state of the disturbance observer is set as:

[0218] z(0) = 0.4sin(t); 0.3cos(t); 0.5sin(t); diag{0, 0, 0, 0, 0, 0}

[0219] The compound disturbance term is set as:

[0220] d(t) = [0.4sin(t); 0.3cos(t); 0.5sin(t);

[0221] 0.2sin(0.1t); 0.3sin(0.2t); 0.5sin(0.2t)]

[0222] The input of the joystick angular displacement is set as:

[0223] x 1h= [0.7square(0.5t) + 0.7; 0.5square(t) + 0.5; 1.6sin(0.5t)]

[0224] x 2h = [0.7cos(0.5t) + 0.7; 0.5square(0.8t) + 0.5; 1.6sin(0.5t)]

[0225] x 1hM = [2.5, 2.5, 2.5], x 2hM = [1.5, 1.5, 1.5]

[0226] The designed controller parameter settings are:

[0227] k0 = diag{13, 13, 13, 12, 12, 12}

[0228] k1 = diag{0.3, 0.15, 0.6, 0.5, 0.5, 0.5}

[0229] k2 = diag{2.5, 2.5, 2.5, 3, 3, 3}

[0230] k 1h = 3, k 2h = 5

[0231] k 1s =, k 2s = 5

[0232] The simulation results are shown in Figs. Figure 2 , 3 , 4a-4b, 5, wherein Figure 2 , 3 It can be directly seen that the shared control changes in the process of the two spacecraft rendezvous and docking, and at the same time, it is shown that when the human control is added, the shared control will change, and after the human control is over, the system can return to the previous control state; Figures 4a-4b It is shown that the disturbance observer can make the composite disturbance observation value change over time; Figure 5 It is shown that the observation error of the disturbance observer can converge to zero. The effectiveness of the spacecraft rendezvous and docking relative attitude and orbit tracking human-machine shared control method proposed in the embodiment is verified, and the simulation platform is based on the Matlab software under the win11x64 bit operating system.

[0233] The initial values of the relative positions of the tracking spacecraft and the target spacecraft are:

[0234] R(0) = [80, -45, 5] T , [20, -100, 70] T[-55, 60, -150] T (m)

[0235] The simulation results are shown in Figures 6a-6c Based on the control method proposed in the embodiment, the target spacecraft can track the target spacecraft orbit from different starting positions, and the relative position error converges to zero.

[0236] The tracking spacecraft body attitude initial value is respectively:

[0237] q b (0) = [0.3, -0.2, 0.3, 0.8832] T , [0.2, 0.6, -0.5, 0.5916] T

[0238] The simulation results are shown in Figures 7a-7b Based on the control method proposed in the embodiment, the target spacecraft can track the target spacecraft orbit from different starting positions, and the relative position error converges to zero.

[0239] On the other hand, as shown in Figure 8 A man-machine shared control device is provided for implementing the man-machine shared control method provided by the embodiment of the application, and the device comprises:

[0240] The acquisition module 801 is configured to acquire the artificial control force and the artificial control torque, and generate an artificial control signal according to the artificial control force and the artificial control torque.

[0241] The generation module 802 is configured to generate a machine control signal according to the parameters of the tracking spacecraft and the parameters of the target spacecraft.

[0242] The control module 803 is configured to perform man-machine shared control by combining the artificial control signal and the machine control signal.

[0243] Figure 9 is a structural schematic diagram of a man-machine shared control device provided by the embodiment of the application, as shown in Figure 9 Optionally, the man-machine shared control device 910 can comprise a first processor 2001.

[0244] Optionally, the man-machine shared control device 910 can further comprise a memory 2002 and a transceiver 2003.

[0245] The first processor 2001, the memory 2002 and the transceiver 2003 can be connected through a communication bus.

[0246] The following will be described in combination with Figure 9The components of the human-machine shared control device 910 are described in detail as follows:

[0247] The first processor 2001 is the control center of the human-machine shared control device 910, which can be one processor or a plurality of processing elements. For example, the first processor 2001 is one or more central processing units (CPUs), application specific integrated circuits (ASICs), one or more integrated circuits configured to implement embodiments of the present application, such as one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0248] Optionally, the first processor 2001 can execute various functions of the human-machine shared control device 910 by running or executing software programs stored in the memory 2002 and calling data stored in the memory 2002.

[0249] In a specific implementation, as an embodiment, the first processor 2001 can include one or more CPUs, such as the CPU0 and CPU1 shown in FIG. 1. Figure 9

[0250] In a specific implementation, as an embodiment, the human-machine shared control device 910 can also include a plurality of processors, such as the first processor 2001 and the second processor 2004 shown in FIG. 1. Each of the processors can be a single-CPU or a multi-CPU. The processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions). Figure 9

[0251] The memory 2002 is used to store software programs for implementing the schemes of the present application, and is controlled by the first processor 2001 for execution. The specific implementation can refer to the above method embodiments, which will not be described here.

[0252] ​​Alternatively, the memory 2002 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 2002 may be integrated with the first processor 2001, or may exist independently and be accessed through the interface circuit ( Figure 9 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0253] The transceiver 2003 is used to communicate with a network device or a terminal device.

[0254] Optionally, the transceiver 2003 may include a receiver and a transmitter ( Figure 9 (not shown separately in the figure). The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0255] Optionally, the transceiver 2003 may be integrated with the first processor 2001, or may exist independently and be controlled via the interface circuit ( Figure 9 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0256] It should be noted that Figure 9 The structure of the human-machine shared control device 910 shown in the figure does not constitute a limitation on the router. The actual knowledge structure recognition device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0257] In addition, the technical effects of the human-machine shared control device 910 can refer to the technical effects of the XXX method described in the above method embodiment, and will not be repeated here.

[0258] It is to be understood that the first processor 2001 in the embodiments of the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic components, discrete hardware components, etc. The general-purpose processor can be a microprocessor or can also be any conventional processor.

[0259] It is also to be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM) and direct rambus RAM (DRAM).

[0260] The above-described embodiments can be implemented in whole or in part by software, hardware (e.g., circuitry), firmware, or any combination thereof. When implemented in software, the above-described embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center through wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, etc. containing one or more available medium collections. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0261] It should be understood that the term "and / or" herein merely describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone, where A and B can be singular or plural. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects, but can also represent an "and / or" relationship, which can be understood in the context before and after.

[0262] In the present application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or the like means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0263] It should be understood that in various embodiments of the present application, the size of the sequence number of the above-described processes does not mean the order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0264] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0265] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the devices, apparatuses and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0266] In several embodiments provided by the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0267] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0268] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0269] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the present application that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0270] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A human-machine shared control method, characterized in that: The method is used for spacecraft rendezvous and docking, and the method comprises: Acquiring an artificial control force and an artificial control torque, and generating an artificial control signal according to the artificial control force and the artificial control torque; generating a machine control signal based on the parameters of the tracking spacecraft and the parameters of the target spacecraft; Combining the manual control signal and the machine control signal to perform human-machine shared control; generating the machine control signal based on the parameters of the tracking spacecraft and the parameters of the target spacecraft is performed in the following manner: According to the formula Generates machine control signals, where is the machine control signal, λ1∈R 6×6 ,λ2∈R 6×6 , each value in the matrix is ​​greater than or equal to 0, is the disturbance value of the machine control, where e0∈R and e v =[e v1 ,e v2 ,e v3 ] T ∈R 3 represent the scalar and vector parts of the error quaternion of the tracking spacecraft relative to the target spacecraft, respectively. for e v The cross product matrix of ω e =ω-Cω d ∈R 3 To track the relative angular velocity of the spacecraft relative to the target spacecraft, where ω∈R 3 represents the angular velocity of the spacecraft, ω d ∈R 3 represents the desired angular velocity of the spacecraft, ω e The cross product matrix of C is the attitude rotation matrix of the spacecraft body coordinate system relative to the desired coordinate system, which satisfies the formula F max is the maximum thrust modulus, m is the mass of the tracking spacecraft, I is the third-order unit matrix, g(ω e )=J -1 , where J∈R 3×3 is the spacecraft moment of inertia matrix, where θ is the true anomaly angle, is the orbital angular velocity of the target spacecraft, is the orbital angular acceleration of the target spacecraft, R T is the distance vector of the target spacecraft relative to the Earth-centered inertial coordinate system, R t =‖R T ‖ is R T The modulus, R = [x, y, z] T is the distance vector from the target spacecraft to the tracking spacecraft, x, y, z represent the distances from the target spacecraft to the tracking spacecraft in the x, y, and z axes respectively. The above variables satisfy is the gravitational constant, e is the eccentricity of the elliptical orbit, a is the semi-major axis of the elliptical orbit, and are error variables, b is the virtual control variable; The combination of the manual control signal and the machine control signal to perform human-machine shared control is performed in the following manner: According to the formula Perform human-machine shared control, where u(t) is the total control input of human-machine shared control, I 6×6 is a sixth-order unit matrix, V h is the composite control parameter, Among them, I 3×3 is a third-order unit array, represents the angular displacement of the manual joystick in the x, y, and z axes based on the relative attitude control between the tracking spacecraft and the target spacecraft, k 1s >0 is the elastic coefficient of the joystick spring, represents the angular displacement of the manual joystick in the x, y, and z axes based on the relative position control between the tracking spacecraft and the target spacecraft, k 2s >0 is the elastic coefficient of the joystick spring, is the machine control signal, is the artificial control signal.

2. The human-machine shared control method according to claim 1, characterized in that: The obtaining of artificial control force includes: According to the formula Obtaining artificial control force, where is the artificial control force, k 2h >0 is a constant, is the maximum angular displacement of the manual joystick used for relative position control between the tracking spacecraft and the target spacecraft, Indicates the angular displacement of the operating rod in the three axes of x, y, and z.

3. The human-machine shared control method according to claim 1, characterized in that: The obtaining of the artificial control torque includes: According to the formula i=1, 2, 3, obtain the manual control torque, where, is the manual control torque, k 1h >0 is a constant, is the maximum angular displacement of the manual joystick used for relative attitude control between the tracking spacecraft and the target spacecraft, Indicates the angular displacement of the operating rod in the x, y, and z axes.

4. The human-machine shared control method according to claim 1, characterized in that: Generating an artificial control signal according to the artificial control force and the artificial control torque includes: According to the artificial control force and artificial control torque, the formula Generate an artificial control signal, where is an artificial control signal, the is the manual control torque, is the artificial control force.

5. The human-machine shared control method according to claim 1, characterized in that: The method further comprises: determining a rendezvous and docking motion composite model for the spacecraft rendezvous and docking; simulating the rendezvous and docking of two spacecraft according to the rendezvous and docking motion composite model; Wherein, the rendezvous and docking motion composite model is: in, The error vector of the two spacecraft attitude quaternion is combined with the relative position error to express: and They represent the first and second derivatives of x with respect to time, u=[τ T ,f T ] T It is the machine control signal during the spacecraft rendezvous and docking process. is the composite interference encountered by the spacecraft during rendezvous and docking. For Q, there exists a positive constant Make e0∈R and e v =[e v1 ,e v2 ,e v3 ] T ∈R 3 represent the scalar and vector parts of the error quaternion of the tracking spacecraft relative to the target spacecraft, respectively. for e v The cross product matrix of ω e =ω-Cω d ∈R 3 To track the relative angular velocity of the spacecraft relative to the target spacecraft, where ω∈R 3 represents the angular velocity of the spacecraft, ω d ∈σ 3 represents the desired angular velocity of the spacecraft, ω e The cross product matrix is ​​expressed as C is the attitude rotation matrix of the spacecraft body coordinate system relative to the desired coordinate system, which satisfies the formula F max is the maximum thrust modulus, m is the mass of the tracking spacecraft, σ is a third-order unit matrix, σ(ω e )=J -1 , where J∈R 3×3 is the spacecraft moment of inertia matrix, where θ is the true anomaly angle, is the orbital angular velocity of the target spacecraft, is the orbital angular acceleration of the target spacecraft, R T is the distance vector of the target spacecraft relative to the Earth-centered inertial coordinate system, R t =‖R T ‖ is R T The modulus, R = [x, y, z] T is the distance vector from the target spacecraft to the tracking spacecraft, x, y, z represent the distances from the target spacecraft to the tracking spacecraft in the x, y, z axes respectively. μ=3.986×10 14 m 3 / s 2 is the gravitational constant, e is the eccentricity of the elliptical orbit, and a is the semi-major axis of the elliptical orbit.

6. The human-machine sharing control method according to claim 5, characterized in that: The method further comprises: The disturbance observer model of the rendezvous and docking motion composite model is determined as where z is the internal state of the nonlinear observer, It means the first derivative of z with respect to time, represents the observed value of interference, p(x2)=k0Q -1 x2, l(x2) = k0Q -1 , k0∈R 6×6 is the observer coefficient matrix; The disturbance observer model outputs a disturbance observation result of the rendezvous and docking kinematic composite model, and the output of the disturbance observer model is used as a disturbance value of the machine control to perform human-machine shared control.

7. A human-machine sharing control device, the human-machine sharing control device being used to implement the human-machine sharing control method according to any one of claims 1 to 6, characterized in that: The device comprises: an acquisition module, configured to acquire an artificial control force and an artificial control torque, and generate an artificial control signal according to the artificial control force and the artificial control torque; a generation module for generating a machine control signal according to the parameters of the tracking spacecraft and the parameters of the target spacecraft; The control module is used to combine the manual control signal and the machine control signal to perform human-machine shared control.

8. A human-machine shared control device, characterized in that: The human-machine shared control device includes: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, which can be called by a processor to execute the method according to any one of claims 1 to 6.

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