發(fā)布時間：2018-04-19 13:11

  本文選題：深空探測 + 任務(wù)規(guī)劃��； 參考：《北京理工大學(xué)》2015年博士論文

【摘要】：在深空探測任務(wù)中,由于探測目標(biāo)距離遠(yuǎn)、飛行環(huán)境不確定、通信延遲等原因,航天器需要解決動態(tài)環(huán)境中實時控制和觀測突發(fā)科學(xué)目標(biāo)的問題。提高航天器系統(tǒng)的自主管理能力是解決這些問題的一種有效途徑。任務(wù)規(guī)劃技術(shù)是實現(xiàn)自主管理的關(guān)鍵技術(shù)之一,在航天領(lǐng)域中得到了廣泛的應(yīng)用和發(fā)展。采用任務(wù)規(guī)劃技術(shù)建立航天器系統(tǒng)的規(guī)劃問題模型,生成能夠自主執(zhí)行的動作指令序列,可以有效提高航天器完成任務(wù)的實時性與可靠性。與此同時,工作環(huán)境條件復(fù)雜、動作執(zhí)行受擾動影響等特點也給航天器任務(wù)規(guī)劃問題帶來了新的難題和挑戰(zhàn),如何使得規(guī)劃動作的約束變量滿足動態(tài)分配的需求成為規(guī)劃技術(shù)研究的目標(biāo)。本論文針對航天器任務(wù)規(guī)劃中的約束處理過程和規(guī)劃算法進(jìn)行了系統(tǒng)的研究和分析,主要研究內(nèi)容包括以下幾個方面:針對航天器任務(wù)規(guī)劃中可動態(tài)分配時間約束的處理問題,結(jié)合了部分路徑一致性最短路徑算法和檢測冗余邊的三角法則,提出了基于部分路徑一致性的時間約束計算方法。該方法根據(jù)規(guī)劃動作中的時間約束生成需計算的時間約束網(wǎng)絡(luò),并采用部分一致性網(wǎng)絡(luò)最短路徑算法生成的部分路徑一致性網(wǎng)絡(luò)獲取頂點間最短距離,簡化了計算最短距離的過程。在此基礎(chǔ)上,通過分析消去最短距離網(wǎng)絡(luò)冗余邊的過程,提出了采用時間排序的頂點序列過濾部分路徑一致性網(wǎng)絡(luò)的方法,避免了對冗余邊的重復(fù)檢測,可以快速地生成時間網(wǎng)絡(luò)的最小可分配形式。針對航天器任務(wù)規(guī)劃中資源約束數(shù)值的計算問題,結(jié)合網(wǎng)絡(luò)流的增廣路方法和預(yù)流推進(jìn)方法,提出了基于時間拓?fù)渑判虻馁Y源約束算法。該方法考慮到資源約束網(wǎng)絡(luò)頂點之間流量分布的特點,利用增廣路方法的分層思想將網(wǎng)絡(luò)中的頂點分為四層。進(jìn)一步,根據(jù)執(zhí)行時間對所有頂點進(jìn)行拓?fù)渑判?并采用預(yù)流推進(jìn)方法逐層推進(jìn)流量,從而計算出資源約束網(wǎng)絡(luò)的最大流,檢驗規(guī)劃結(jié)果中資源約束的滿足情況。該方法改進(jìn)了網(wǎng)絡(luò)最大流的計算過程,有效解決了快速計算規(guī)劃資源約束數(shù)量的問題。同時,結(jié)合時間約束網(wǎng)絡(luò)的可分配形式,提出了檢測資源約束是否滿足的可分配性條件,提高了規(guī)劃動作對資源的使用率。針對航天器對執(zhí)行動作時動態(tài)分配約束變量的需求,結(jié)合了時序回溯任務(wù)規(guī)劃算法,提出了基于時間約束可分配度的啟發(fā)式規(guī)劃方法。該方法首先通過分析時序回溯規(guī)劃算法的計算過程,確定了在規(guī)劃空間擴(kuò)展過程中時間約束網(wǎng)絡(luò)的變化,并提出了時間約束可分配度的概念。然后,建立了時間約束可分配度的規(guī)劃啟發(fā)式函數(shù),給出了以時間約束可分配度作為性能指標(biāo)的規(guī)劃過程。結(jié)合本文研究內(nèi)容,根據(jù)對航天器任務(wù)規(guī)劃方法進(jìn)行仿真驗證的需求,給出了一套航天器任務(wù)規(guī)劃驗證系統(tǒng)的設(shè)計方案。首先給出了規(guī)劃驗證系統(tǒng)的軟硬件結(jié)構(gòu)和各模塊功能,建立了各模塊間的數(shù)據(jù)流程和工作流程。在此基礎(chǔ)上,結(jié)合本文提出的規(guī)劃系統(tǒng)實現(xiàn)了任務(wù)規(guī)劃模塊,并針對航天器實際工作情況實現(xiàn)了航天器自主在軌運行模塊和自主管理模塊。最后,建立了描述航天器任務(wù)的規(guī)劃模型,并通過仿真實驗驗證了航天器系統(tǒng)實現(xiàn)約束處理和任務(wù)規(guī)劃的能力。
[Abstract]:In the deep space detection task, due to the distance of the detection target, the uncertainty of the flight environment and the delay of communication, the spacecraft needs to solve the problem of real-time control and observation of the unexpected scientific targets in the dynamic environment. It is an effective way to improve the autonomous management ability of the spacecraft system. One of the key technologies of master management has been widely used and developed in the space field. The task planning technology is used to establish the planning problem model of the spacecraft system, and to generate the action instruction sequence that can be executed independently, and it can effectively improve the real-time performance and reliability of the spacecraft to complete the task. At the same time, the working environment is complex, The characteristics of action execution affected by disturbance also bring new challenges and challenges to the task planning of spacecraft. How to make the constraint variables of the planning action meet the dynamic allocation requirement has become the goal of the research of the planning technology. This paper systematically studies the constraint process and the planning algorithm in the mission planning of the spacecraft. The main research contents include the following aspects: Aiming at the problem of dynamic allocation of time constraints in the mission planning of spacecraft, combining the shortest path algorithm of the partial path and the triangle rule of redundant edge detection, a time constraint calculation method based on the consistency of the partial path is proposed. The time constraint in the time constraint network is generated, and the shortest distance between the vertices is obtained by the partial path consistency network generated by the shortest path algorithm of the partial consistency network, and the shortest distance is simplified. On this basis, the time scheduling is proposed by analyzing the process of eliminating the most short distance from the redundant edge of the network. The method of sequence vertex sequence filtering partial path conformance network avoids repeated detection of redundant edges and can quickly generate the minimum distributable form of time network. In view of the problem of computing resource constraints in spacecraft mission planning, combined with the augmented approach and preflow method of network flow, a time extension based on time extension is proposed. This method takes into account the characteristics of the flow distribution between the vertices of the resource constrained network, and divides the vertices in the network into four layers by using the hierarchical idea of the augmented road method. The maximum flow of the source constraint network tests the satisfaction of resource constraints in the planning results. This method improves the computing process of the maximum flow of the network, and effectively solves the problem of the number of constraints for fast computing planning resources. At the same time, the distributable condition of whether the resource constraints are satisfied is proposed by combining the distributable form of the time constrained network. In view of the requirement for the dynamic allocation of constraint variables in the execution action of the spacecraft, a heuristic programming method based on time constraint allocation is proposed in view of the requirement of the dynamic allocation of constraint variables for the execution action of the spacecraft and the time sequence backtracking task planning algorithm. This method first analyzes the calculation process of the time series backtracking planning algorithm and determines the planning. In the process of space extension, the time constraint network is changed, and the concept of time constraint distributive degree is proposed. Then, the planning heuristic function of time constraint distributable degree is established, and the planning process of the time constraint distribution is given as the performance index. The design of a set of spacecraft mission planning verification system is given. First, the software and hardware structure of the planning verification system and the functions of each module are given, and the data flow and work flow between each module are established. On this basis, the task planning module is realized with the system proposed in this paper. The actual operating conditions of the spacecraft have realized the autonomous operating module and independent management module of the spacecraft. Finally, a planning model describing the mission of the spacecraft is set up, and the ability of the spacecraft system to realize the constraint processing and task planning is verified by the simulation experiment.

【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：V47;V448.2

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