针对航天创新人才培养问题,中国宇航学会与哈尔滨工业大学联合主办了第一届空天智能应用挑战赛,比赛以解决航天工程问题为目的设立了空间机器人灵巧捕获、空间目标运动感知、自主项目–空天智能应用三个项目,每个项目均通过选手答辩、...针对航天创新人才培养问题,中国宇航学会与哈尔滨工业大学联合主办了第一届空天智能应用挑战赛,比赛以解决航天工程问题为目的设立了空间机器人灵巧捕获、空间目标运动感知、自主项目–空天智能应用三个项目,每个项目均通过选手答辩、专家质询、成绩复核三个环节决出了一二三等奖。本次比赛共76支队伍报名参赛,分别来自各大高校、科研院所、部队单位、商业航天公司,打破了多数航天学科类比赛仅面向于高校的限制,为航天创新人才培养提供了更广阔的空间,也为航天工程问题的解决提出了更多思路,促进了校企之间的学术互动。哈尔滨工业大学作为主办方,荣获一等奖1项、二等奖1项、三等奖3项,完成了SpaceSim软件的孵化与能力提升,出版了1部工信部规划教材,参赛学生发表了1篇学术论文,达到了以赛育人的目的。In view of the problem of aerospace engineering talent training, Harbin Institute of Technology and Chinese Society of Astronautics jointly sponsored the first Space Intelligence Application Challenge. In order to solve aerospace engineering problems, the competition set up three projects: smart acquisition of space robots, space target motion perception, and autonomous project-space intelligence application. Each project was awarded the first, second and third prizes through the three links of contestant defense, expert inquiry and performance review. A total of 76 teams from major universities, scientific research institutes, military units, commercial space companies signed up for the competition, breaking the restrictions that most space discipline competitions are only for universities, providing a broader space for aerospace innovation talent training, but also put forward more ideas for solving aerospace engineering problems, and promote academic interaction between schools and enterprises. Harbin Institute of Technology, as the organizer, won 1 first prize, 1 second prize and 3 third prizes, completed the incubation and capability improvement of SpaceSim software, published 1 Ministry of Industry and Information Technology planning textbook, and the participating students published 1 academic paper, achieving the purpose of educating people through competition.展开更多
针对我国高校航天专业人才培养过程中存在的问题,哈尔滨工业大学小卫星班面向大三本科生开设了仿真实践类专业课《航天器与自主智能系统创新设计》,创新性提出并形成了SpaceSim软件官网开放社区学习模式和自媒体自我创作型学习模式,采...针对我国高校航天专业人才培养过程中存在的问题,哈尔滨工业大学小卫星班面向大三本科生开设了仿真实践类专业课《航天器与自主智能系统创新设计》,创新性提出并形成了SpaceSim软件官网开放社区学习模式和自媒体自我创作型学习模式,采用案例式教学,从姿轨控与空间环境等基础知识到通导遥载荷特性等应用知识,利用国产航天器系统仿真软件SpaceSim编制了40个仿真案例并上传至软件官网开放社区,建立了师生之间、学生之间、同行之间的学术交流平台,促进和激发了学生们同团队教师在线研究和探讨仿真实验问题的兴趣,提高了授课质量。课程以学生提交的大作业为考核项目,提出“自主进阶式任务想定”教学模式并引入自媒体评价机制,学生通过自媒体展示和讲解自己的大作业,锻炼了学生的项目构建与表达能力,有效提升了学生完成作业的积极态度与认真程度,对提升授课效果起到了重要作用。最后,该课程的授课模式、课程内容以及仿真工具已被其他高校航天专业课以及空天智能应用挑战赛所借鉴和采用,验证了该课程创新设计理念的应用实践性与有效性。In view of the problems existing in the training process of space professionals in Chinese universities, the small satellite class of Harbin Institute of Technology opened a professional course of simulation practice “Innovative Design of Spacecraft and Autonomous Intelligent System” for junior undergraduates, and innovatively proposed and formed the SpaceSim open community learning model and the self-creative learning model of we-media, using case teaching. From the basic knowledge of attitude and orbit control and space environment to the application knowledge of communication, navigation and remote sensing load characteristics, 40 simulation cases were compiled by SpaceSim, a domestic spacecraft system simulation software, and uploaded to the open community of the software’s official website, establishing an academic exchange platform between teachers and students, students and peers, which promotes and stimulate students’ interest in online research and discussion of simulation experiments with team teachers, and improves the quality of teaching. The course takes the large assignments submitted by students as assessment items, proposes the teaching mode of “independent advanced task planning” and introduces the we-media evaluation mechanism. Students display and explain their large assignments through we-media, which exercises students’ ability of project construction and expression, effectively improves students’ positive attitude and seriousness in completing assignments, and plays an important role in improving the teaching effect. Finally, the teaching mode, course content and simulation tools of this course have been used for reference and adopted by other aerospace professional courses in universities and Space Intelligence Application Challenge competitions, which verifies the application practicability and effectiveness of the innovative design concept of this course.展开更多
为提高敏捷挠性航天器在轨连续机动的快速性和高稳定性,应用变速控制力矩陀螺(variable speed control moment gyroscopes,VSCMGs)作为姿态控制执行机构,提出了一种将观测器与自适应控制结合的姿态控制律与VSCMGs复合操纵律。考虑到机...为提高敏捷挠性航天器在轨连续机动的快速性和高稳定性,应用变速控制力矩陀螺(variable speed control moment gyroscopes,VSCMGs)作为姿态控制执行机构,提出了一种将观测器与自适应控制结合的姿态控制律与VSCMGs复合操纵律。考虑到机动过程中挠性模态及精确惯量不可知,采用模态观测器和转动惯量估计器对不可测的状态或参数进行辨识,辨识结果用于精确估计前馈补偿力矩,利用Lyapunov分析方法证明了闭环控制系统的稳定性。鉴于VSCMGs实际使用的力矩分配能力、避奇异能力、轮速平衡能力与末态框架角定位能力,分别设计了加权伪逆操纵律与3种对应的零运动。基于雅可比矩阵条件数提出了末态框架角的优选方法,给出了VSCMGs零运动在机动过程不同阶段的部署方案。结果表明:通过连续姿态机动数值仿真验证了所提算法的有效性;VSCMGs在连续机动过程中平滑切换模式,在不同的机动阶段实现了相应功能。模态观测值和惯量估计值在多次机动后收敛至真值附近,经过参数辨识后的控制器使航天器在机动末端更快更稳地达到指向精度要求。展开更多
文摘针对航天创新人才培养问题,中国宇航学会与哈尔滨工业大学联合主办了第一届空天智能应用挑战赛,比赛以解决航天工程问题为目的设立了空间机器人灵巧捕获、空间目标运动感知、自主项目–空天智能应用三个项目,每个项目均通过选手答辩、专家质询、成绩复核三个环节决出了一二三等奖。本次比赛共76支队伍报名参赛,分别来自各大高校、科研院所、部队单位、商业航天公司,打破了多数航天学科类比赛仅面向于高校的限制,为航天创新人才培养提供了更广阔的空间,也为航天工程问题的解决提出了更多思路,促进了校企之间的学术互动。哈尔滨工业大学作为主办方,荣获一等奖1项、二等奖1项、三等奖3项,完成了SpaceSim软件的孵化与能力提升,出版了1部工信部规划教材,参赛学生发表了1篇学术论文,达到了以赛育人的目的。In view of the problem of aerospace engineering talent training, Harbin Institute of Technology and Chinese Society of Astronautics jointly sponsored the first Space Intelligence Application Challenge. In order to solve aerospace engineering problems, the competition set up three projects: smart acquisition of space robots, space target motion perception, and autonomous project-space intelligence application. Each project was awarded the first, second and third prizes through the three links of contestant defense, expert inquiry and performance review. A total of 76 teams from major universities, scientific research institutes, military units, commercial space companies signed up for the competition, breaking the restrictions that most space discipline competitions are only for universities, providing a broader space for aerospace innovation talent training, but also put forward more ideas for solving aerospace engineering problems, and promote academic interaction between schools and enterprises. Harbin Institute of Technology, as the organizer, won 1 first prize, 1 second prize and 3 third prizes, completed the incubation and capability improvement of SpaceSim software, published 1 Ministry of Industry and Information Technology planning textbook, and the participating students published 1 academic paper, achieving the purpose of educating people through competition.
文摘针对我国高校航天专业人才培养过程中存在的问题,哈尔滨工业大学小卫星班面向大三本科生开设了仿真实践类专业课《航天器与自主智能系统创新设计》,创新性提出并形成了SpaceSim软件官网开放社区学习模式和自媒体自我创作型学习模式,采用案例式教学,从姿轨控与空间环境等基础知识到通导遥载荷特性等应用知识,利用国产航天器系统仿真软件SpaceSim编制了40个仿真案例并上传至软件官网开放社区,建立了师生之间、学生之间、同行之间的学术交流平台,促进和激发了学生们同团队教师在线研究和探讨仿真实验问题的兴趣,提高了授课质量。课程以学生提交的大作业为考核项目,提出“自主进阶式任务想定”教学模式并引入自媒体评价机制,学生通过自媒体展示和讲解自己的大作业,锻炼了学生的项目构建与表达能力,有效提升了学生完成作业的积极态度与认真程度,对提升授课效果起到了重要作用。最后,该课程的授课模式、课程内容以及仿真工具已被其他高校航天专业课以及空天智能应用挑战赛所借鉴和采用,验证了该课程创新设计理念的应用实践性与有效性。In view of the problems existing in the training process of space professionals in Chinese universities, the small satellite class of Harbin Institute of Technology opened a professional course of simulation practice “Innovative Design of Spacecraft and Autonomous Intelligent System” for junior undergraduates, and innovatively proposed and formed the SpaceSim open community learning model and the self-creative learning model of we-media, using case teaching. From the basic knowledge of attitude and orbit control and space environment to the application knowledge of communication, navigation and remote sensing load characteristics, 40 simulation cases were compiled by SpaceSim, a domestic spacecraft system simulation software, and uploaded to the open community of the software’s official website, establishing an academic exchange platform between teachers and students, students and peers, which promotes and stimulate students’ interest in online research and discussion of simulation experiments with team teachers, and improves the quality of teaching. The course takes the large assignments submitted by students as assessment items, proposes the teaching mode of “independent advanced task planning” and introduces the we-media evaluation mechanism. Students display and explain their large assignments through we-media, which exercises students’ ability of project construction and expression, effectively improves students’ positive attitude and seriousness in completing assignments, and plays an important role in improving the teaching effect. Finally, the teaching mode, course content and simulation tools of this course have been used for reference and adopted by other aerospace professional courses in universities and Space Intelligence Application Challenge competitions, which verifies the application practicability and effectiveness of the innovative design concept of this course.
文摘为提高敏捷挠性航天器在轨连续机动的快速性和高稳定性,应用变速控制力矩陀螺(variable speed control moment gyroscopes,VSCMGs)作为姿态控制执行机构,提出了一种将观测器与自适应控制结合的姿态控制律与VSCMGs复合操纵律。考虑到机动过程中挠性模态及精确惯量不可知,采用模态观测器和转动惯量估计器对不可测的状态或参数进行辨识,辨识结果用于精确估计前馈补偿力矩,利用Lyapunov分析方法证明了闭环控制系统的稳定性。鉴于VSCMGs实际使用的力矩分配能力、避奇异能力、轮速平衡能力与末态框架角定位能力,分别设计了加权伪逆操纵律与3种对应的零运动。基于雅可比矩阵条件数提出了末态框架角的优选方法,给出了VSCMGs零运动在机动过程不同阶段的部署方案。结果表明:通过连续姿态机动数值仿真验证了所提算法的有效性;VSCMGs在连续机动过程中平滑切换模式,在不同的机动阶段实现了相应功能。模态观测值和惯量估计值在多次机动后收敛至真值附近,经过参数辨识后的控制器使航天器在机动末端更快更稳地达到指向精度要求。
