Dynamics and control of small aerial vehicles in contact with environment and of space webs for debris removal.

与环境接触的小型飞行器以及清除碎片的空间网的动力学和控制。

• 批准号: RGPIN-2014-06165
• 负责人: Sharf, Inna
• 金额: $ 2.4万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638666
• 关键词: Dynamics; control; small; aerial; vehicles

This proposal addresses fundamental problems in dynamics and control in the context of two applications: autonomous operation of small unmanned aerial vehicles (UAVs) and space debris removal. The research will ultimately benefit the development community and companies building and marketing UAVs. It will also serve to advance technologies for active space debris removal, which is necessary for a continued and sustainable utilization of near-earth orbits for satellite operation and space science. The funding of this grant will lead to training of five highly qualified personnel through their graduate studies and direct participation in the proposed research topics. Small unmanned aerial vehicles have become a research focus of many robotics groups around the world as applications of these systems have been rapidly expanding into civilian domains. UAVs present numerous challenges in the traditional areas of mobile robotics, in particular, systems design, control law development, state estimation, localization and mapping, path planning, obstacle avoidance and coordinated operation of multiple UAVs. In the present proposal, we depart from these conventional topics and investigate, for the first time, the problems of dynamics and control of small rotary vehicles, such as quadrotors, under the conditions of impact with the environment. We are motivated by the fact that operation of UAVs carries with it a significant risk of collision with surrounding objects, particularly indoors and in unknown, unstructured environments. Therefore, to make small UAV systems safer, to expand their autonomy and ultimately achieve their acceptance in the society at large, our goal for this grant is to investigate dynamics modeling and response of an aerial vehicle under impact conditions, and to develop control methodologies to enable a rotary UAV to recover from a collision with its environment. Our second targeted application stems from the applicant’s leading-edge research in the area of space robotics, and specifically, problems associated with autonomous capture of malfunctioning satellites and space debris. The case for on-orbit servicing and space debris remediation is unequivocal at this point and there is little debate on the role and necessity for these missions. Our research to date has lead to innovative solutions to problems of motion planning and control for capture of unknown tumbling targets using a robotic arm mounted on the servicing (“chaser”) satellite. We plan to expand our efforts towards identifying a feasible solution for active removal of large space debris, by investigating the employment of tethered space webs for capture, subsequent stabilization and de-orbiting of the debris. The space webs (also called tethered nets) concept has been investigated by only a few researchers to date. To our knowledge, there are no comprehensive modeling tools which can be used for a sufficiently accurate, yet computationally practical simulation of the complete debris removal scenario. This would require analysis and modeling of all phases of the mission, starting from tether-net deployment, through impact and ensuing contact between the net and the target, and ending with transporting the debris to a graveyard or lower orbit. Among the aforementioned phases, the impact between the net and the target and subsequent enclosure and stabilization of the target represent the most challenging and least researched problems in dynamics modeling and control of debris capture with a space web. This will be the main area of our investigation on space debris removal in the context of the present grant. Both topics to be considered build on the applicant's prior research and expertise in contact mechanics and dynamics modelling.

该提案涉及两个应用程序中的基础和控制：航空车的自主运行（无人机）和删除空间碎片。这是近地的轨道运行和太空科学的持续维持特别是，系统设计，控制法律发展，州估计，本地化和映射，在本提案中规划IPLE，我们偏离了传统主题，并首次调查了动态和小规模的控制问题扶轮社，UF的国际离子带有重要的物体，以使其成为无人机系统，以扩大最终在社会上的认可。在撞击条件下的航空车辆，并开发控制方法，使旋转紫外线能够从其环境碰撞中恢复到空间机器人区域 - 轨道空间碎片修复是明确的，迄今为止，几乎没有争议，因此，迄今为止的研究使运动计划和控制问题的创新解决方案使用卫星上的机器人臂捕获了未知的翻滚目标计划通过调查捕获束缚的空间网络，以确定活跃的大型空间碎片的壮举解决方案。迄今为止，只有少数研究人员被认为，可以用来充分准确地使用净影响，而将净碎片运送到墓地或情人轨道上。在上述阶段，在动力学模型中的问题和最少的研究问题以及对当前赠款中空间碎片删除的调查。