Evaluation of space station on-orbit maintenance operation complexity and its experimental validation
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摘要:
在轨维修是维持空间站在太空特殊环境安全运行的必要手段，太空特殊环境和空间站结构特点决定了空间站在轨维修任务的复杂度。在轨维修操作复杂度关系到空间站维修方案的优化、维修计划的制定、货运飞船的安排、航天员培训和空间站可维修性设计。然而，针对空间站在轨维修操作复杂度的评价研究较少。因此，提出了空间站在轨维修操作复杂度的概念，考虑了维修固有复杂度和外部影响因子2个方面，基于信息熵理论建立了复杂度评估模型。固有复杂度包括维修操作逻辑、维修动作规模、维修人机界面和维修操作知识，并借助信息熵完成以上4个方面的量化；外部影响因子包括操作空间、有无维修工具、时间压力、视觉遮挡和航天服影响，并利用分级打分制予以量化。为验证模型的有效性，基于地面模拟舱开展了12类产品维修验证试验，采集了受试者的维修动作及时间。实验数据分析表明，提出的模型能够较好地预测产品的维修耗时（相关系数为0.82），并能较为合理地对空间站在轨维修操作复杂度进行量化分级。为在轨维修的开展、维修方案的评价、航天员乘组训练与安排和空间站设计更改提供方法指导。
Abstract:On-orbit maintenance is essential to maintain the safe operation of space stations in special environment of outer space. The harsh space environment and the structural characteristics of space stations determine on-orbital maintenance operation complexity (OOMOC), which is related to the optimization of maintenance program, the development of maintenance plan, the arrangement of cargo spacecraft, astronaut training and space station maintainability design. However, there are few studies on OOMOC. In this paper, we proposed the concept of OOMOC, and established a complexity evaluation model based on information entropy theory. The model is composed of the instinct maintenance complexity and the external impact factors. Maintenance logic, the number of maintenance operations, human machine interface (HMI) for maintenance and knowledge support were considered by the instinct complexity, and quantified with information entropy; the external influence factors covered operation space, tool support, time pressure, visual occlusion and impact of spacesuits, and were quantified with a graded scoring method. To verify model, the maintenance test for 12 types of product based on the ground simulation cabin was performed, and maintenance actions and duration were collected. The experimental results show that the proposed model can better quantify OOMOC and predict maintenance operation time (correlation coefficient is 0.82). This paper can also provide methodological guidance for on-orbit maintenance, evaluation of maintenance programs, astronaut crew training, and space station maintainability design.
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图 1 舱内维修操作复杂度模型的结构
Figure 1. Structure of operational complexity model for intravehicular maintenance
图 2 舱外维修操作复杂度模型的结构
Figure 2. Structure of operational complexity model for extravehicular maintenance
表 1 舱内与舱外维修操作基本动作库
Table 1. Basic action library for intravehicular and extravehicular maintenance operations
编号 舱内动作库 舱内动作库详情 舱外动作库 舱外动作库详情 1 工具拆螺钉 利用工具拆卸起到紧固作用的螺钉 电动拆螺钉 利用工具拆卸起到紧固作用的螺钉 2 工具装螺钉 利用工具拧紧起到紧固作用的螺钉 电动装螺钉 利用工具拧紧起到紧固作用的螺钉 3 徒手拨插件 徒手断开通信或输电的电缆插头 徒手拨插件 徒手断开通信或输电的电缆插头 4 徒手装插件 徒手连接通信或输电的电缆插头 徒手装插件 徒手连接通信或输电的电缆插头 5 徒手拨管路 徒手断开输送气液的管路 工具拨插件 利用工具断开通信或输电的电缆插头 6 徒手装管路 徒手连接输送气液的管路 工具装插件 利用工具连接通信或输电的电缆插头 7 工具拆管路 利用工具断开输送气液的管路 传递物品 航天员之间传递物品 8 工具装管路 利用工具连接输送气液的管路 人员移动 航天员从1点移动至2点 9 设备对位 备件对准安装位置 设备对位 备件对准安装位置 
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表 2 舱内与舱外维修外部影响因子的度量
Table 2. Measurement of external influence factors for intravehicular and extravehicular maintenance
影响因子 影响程度 权重(舱内) 权重(舱外) 操作空间f1 不受限 1 2 一般受限 1.5 3 严重受限 3 5 维修工具f2 有工具 0.5 2.5 徒手操作容易 1 5 徒手操作难 2 10 视线遮挡f3 不遮挡 1 3 一般遮挡 1.5 4.5 严重遮挡 3 7 时间压力f4 随动作数量y 
增加呈指数 增长
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表 3 产品的维修时间
Table 3. Product repair time
产品名称 维修耗时/s 专用照明灯2控制板 142.12 智能接口装置b 631.44 母线滤波器b 1 583.76 锂离子蓄电池组a 695.50 母线控制单元a 1 040.1 内回路泵组件a 120.71 充放电调节器e 748.87 冷凝水动态水汽分离器 241.07
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表 4 产品的支持向量机复杂度等级分类结果
Table 4. Support vector machine complexity classification results of products
分类结果 产品名称 MOCT 维修时间/s 非常简单类a1 平板照明灯a 1.28 146.57 内回路泵组件a 1.29 150.74 专用照明灯2控制板 1.33 168.28 简单类a2 中温泵控制器d 1.46 235.50 复杂b1 母线控制单元a 1.82 521.13 舱内循环风机a 1.83 531.52 舱内循环风机b 1.89 597.06 非常复杂b2 母线滤波器b 1.92 631.92 智能接口装置b 1.99 718.97 充放电调节器e 2.00 732.08 二符惯性测量单元线路盒 2.04 786.23 锂离子蓄电池组a 2.42 1 455.15
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表 5 舱外维修产品的理论维修复杂度
Table 5. Theoretical maintenance complexity of extravehicular maintenance products
产品名称 MOC1 MOC2 MOC3 MOC4 K MOCT P1 1.15 3.70 1.00 3.00 4.26 6.39 P2 1.25 6.21 1.00 3.00 4.70 9.17 P3 0.99 4.09 1.58 3.70 4.13 7.31 注：P1为舱外泛光灯H; P2为热控舱外综合业务单元a; P3为电位检测探头。
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