CN104914873B - A kind of coupling process of rail control engine - Google Patents
A kind of coupling process of rail control engine Download PDFInfo
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Abstract
A kind of coupling process of rail control engine, by the position in three directions of body series and rolling, pitching, on the basis of the common six degree of freedom control instruction assignment problem dimensionality reduction of gesture stability in three directions of driftage is multiple up to subproblem of two degrees of freedom problem, devising can be while considers the engine application method of the two degrees of freedom subproblem of track and gesture stability, including carrying out engine selection by the comparison of engine vector angle and control instruction angle, start duration processing method in the case of the calculating of start duration and break bounds, strategy is used in the case where rail control coupling is strong so as to solve conventional engines, the problem of engine service efficiency is low, the generation of perturbed force and disturbance torque in position and posture six degree of freedom control process can effectively be reduced, improve the precision and stability of control, reduce propellant expenditure.
Description
Technical field
The present invention relates to a kind of coupling process of rail control engine, particularly engine configuration causes radial position to control
Coupled with pitch attitude, the situation that the control of orbital plane external position is coupled with yaw-position, it is adaptable to which spacecrafts rendezvous etc. needs simultaneously
The task of relative position and relative Attitude Control for Spacecraft is carried out, belongs to spacecraft attitude control system conceptual design field.
Background technology
Using for spacecraft engine is tactful, i.e. the control instruction allocation algorithm of engine, directly affects control action
Realize and propellant waste, therefore the quality of its design has critically important influence to the performance of whole control system.Particularly
For this kind of complicated space mission for requiring that control accuracy is high of such as spacecrafts rendezvous, status is particularly important.
It is early in the fields such as aircraft, ship, submarine for the control instruction allocation algorithm of multi executors High redundancy system
There is correlative study, there is least square method, pseudoinverse technique etc..But the executing agency considered in these fields is generally two-way actuator,
Positive and negative two-way controlled quentity controlled variable can be produced, and the particularity of the control instruction assignment problem of spacecraft engine is that, is made
The controlled quentity controlled variable in a direction can only be produced for the engine being fixedly mounted of the one-way of the engine of executing agency, i.e., one.Mesh
The engine control mass distribution algorithm of preceding more maturation mainly has two kinds：1. in early days or even now still in the tradition generally used
It is substantially a kind of look-up table to instruct allocation algorithm.It is some equivalent to original multifreedom controlling assignment problem is decomposed into
Individual single-degree-of-freedom problem, carries out instruction distribution one by one.This method requirement is when carrying out thruster configuration design so that each control
Measuring the thrust/torque in direction can be produced by special thruster (group), be one-to-one relation between them.So carrying out
During instruction distribution, the thrust/torque demand provided for controller, you can using so-called " retrieval table " come pushing away for searching
Power device (group), and obtain the working time of every thruster.This method has a faster online calculating speed, but propellant
Larger and control accuracy is consumed not do.2. early in 1969, the linear programming of engine control instruction assignment problem has been occurred as soon as
Model so that the multifreedom controlling assignment problem can directly be solved without dimensionality reduction by existing classic algorithm.Linearly
The advantage of law of planning is that it can try to achieve the optimal solution of instruction assignment problem, and propellant expenditure is small and control accuracy is high, calculates in addition
The versatility and robustness of method are stronger.But for current engineering practice, this algorithm can cause larger to CPU
Burden, when especially handling multiple (be more than 20) engines at the same time, it is impossible to which meet real-time and in-orbit amount of calculation will
Ask.
The content of the invention
The technology of the present invention solves problem：The deficiencies in the prior art part is overcome to reduce propulsion there is provided one kind
The rail control coupling engine of agent consumption again suitable for engineer applied is using strategy, including is referred to by engine vector angle and control
The comparison of angle is made to carry out engine selection, the start duration processing method in the case of the calculating for duration of starting shooting and break bounds.
The present invention technical solution be：
A kind of coupling process of rail control engine, it is characterised in that comprise the following steps：Spacecrafts rendezvous is related to three first
The son that shaft position, the sextuple control instruction assignment problem of the six degree of freedom control task of posture are decomposed into up to two degrees of freedom is asked
Topic, if two free degree directions in the two degrees of freedom subproblem are respectively F directions and M directions, wherein, F and M directions be six from
By spending two different directions in direction, then two parameter compensator instruction distribution subproblem is handled according to the following steps；
If instructing the n platform engines of distribution for the two parameter compensator, numbering is 1~n；Wherein, p appoints for spacecrafts rendezvous
The total engine configuration number of units of business, and p >=n >=3, p >=12；
1) engine vector angle is calculated, is specially：
If numbering is i, i ∈ { 1 ... n }, component of the engine in F directions and M directions be designated as TiFAnd TiM, then every
Engine and the angle in F directions are calculated as follows：
If TiF>=0 and TiM>=0, θi=arctan (TiM/TiF)
If TiF<0 and TiM>=0, θi=π+arctan (TiM/TiF)
If TiF<0 and TiM<0, θi=π+arctan (TiM/TiF)
If TiF>=0 and TiM<0, θi=2 π+arctan (TiM/TiF)
So as to obtain n platforms engine and F angular separations θ1~θn；
2) selection start engine
If the controlled quentity controlled variable of controller output and the form of non-force and torque, but the form of available machine time, then need to start shooting
Time turns to the form of power or torque as the following formula：
Wherein, the control ability nominal value in this direction set when a is controller design, △ t are controlling cycle, formula
In, equivalent control amount is the power and torque after conversion；
The equivalent sextuple control instruction vector u of power and torque form is changed into two degrees of freedom subproblem, i.e. F and M directions
On control instruction component be respectively uFAnd uM, constitute two-dimentional instruction vector [uF uM] be calculated as follows with the angle in F directions：
If uF>=0 and uM>=0, θu=arctan (uM/uF)
If uF<0 and uM>=0, θu=π+arctan (uM/uF)
If uF<0 and uM<0, θu=π+arctan (uM/uF)
If uF>=0 and uM<0, θu=2 π+arctan (uM/uF)
By step 1) in θ1~θnBy being arranged in order from small to large, and by θuWith θ1~θnIt is compared one by one, if met
Following two conditions, then engine mumber of starting shooting is i and j；
Condition 1：θi≤θu<θj(i,j∈{1,...n})
Condition 2：ForK ≠ i and k ≠ j, θi<θk<θjIt is invalid；
3) engine start duration calculation
If step 2) in the component of the start engine i and j that selects in F directions and M directions be designated as T respectivelyiF、TiMAnd TjF、
TjM, then engine i and j start duration calculation formula is as follows：
K=TiFTjM-TjFTiM
Wherein,WithFor the start duration virtual value of the two engines；
If result of calculation is metAndI, j ∈ 1 ... and n }, then go to step 5), otherwise go to step 4)；
4) start duration break bounds processing
ForSituation, duration break bounds of referred to as starting shooting, processing method in this case is as follows：
2. the start duration for having 1 engine is more than 1
The preferential demand for control for meeting a direction, if that is,Then preferentially meet the hair of M or F direction controlling demands
Motivation available machine time calculation formula is as follows
In formula：X is M or F in subscript；When preferentially meeting M directions, X is M in formula；When preferentially meeting F directions, X is in formula
F；
After above-mentioned processing, if still suffering from the engine that start duration is more than 1, duration indirect assignment of being started shooting is 1；
If 2. 2 engine start durations are all more than 1,2 engines are directly entered as 1；
5) engine i and j start duration actual value are calculated
In a controlling cycle, the true duration of engine i and j start is provided by following formula：
Wherein, △ t are controlling cycle；Wherein tiFor engine i start duration, tjFor engine j start duration；
6) according to tiAnd tj, to the start duration amplitude limit beyond controlling cycle, controlling cycle is entered as, other n-2 platforms are sent out
The start duration of motivation is entered as 0, completes control instruction distribution.
Compared with the prior art, the invention has the advantages that：
(1) present invention proposes a kind of engine of rail control coupling using strategy, compared to the tradition solution commonly used in engineering
Coupling look-up table, the solution of control instruction assignment problem brings up to two degrees of freedom from single-degree-of-freedom, and track and posture can be considered simultaneously
The demand of control, therefore engine service efficiency can be improved, the generation of perturbed force and torque is reduced, so as to reach raising control accuracy
And stability, and reduce the effect of propellant expenditure.
(2) engine of the invention is using strategy, compared to the planning optimizing algorithm commonly used in theory analysis, control instruction
The solution of assignment problem is reduced to two degrees of freedom from six degree of freedom, eliminates the process in line interation optimizing, and calculating speed is fast, symbol
The calculating processing level of current spaceborne computer is closed, is the optimized algorithm for being adapted to engineering.
(3) engine proposed by the invention is sent out using strategy as Shenzhou 8, No. nine, No. ten airship spacecrafts rendezvous
Motivation, by in-orbit flight validation, is substantially reduced propellant expenditure and improves control essence using the core algorithm of strategy
Degree.
Brief description of the drawings
Fig. 1 is FB(flow block) of the two degrees of freedom engine of the present invention using strategy；
Embodiment
Spacecraft body series are defined as：Origin o is the barycenter of spacecraft, and ox axles point to heading along the spacecraft longitudinal axis,
Transverse direction of the oy axles along spacecraft, perpendicular to the longitudinal axis, points to orbit angular velocity opposite direction, oz axles constitute right-handed system with ox, oy axle.
The complex control such as spacecrafts rendezvous task is, it is necessary to carry out position, the six degree of freedom control of posture simultaneously.This six freedom
Degree is respectively to be controlled along the position of the direction of principal axis of ox, oy and oz tri- and using ox, oy, oz as the rolling of axle, pitching, three directions of driftage
On gesture stability.
On the premise of engine configuration meets task control Capability Requirement, appearance rail coupling engine of the invention uses plan
Slightly it is to control to distribute Task-decomposing by former six degree of freedom to be the subtask that some highest frees degree are two, control is then solved respectively
Instruction distribution subproblem.
Spacecrafts rendezvous six degree of freedom control instruction assignment problem dimensionality reduction is changed into multiple single-degree-of-freedoms and two degrees of freedom is asked
Topic.Single-degree-of-freedom subproblem presses traditional look-up table and solved, and two degrees of freedom that track and gesture stability may be related to simultaneously is asked
Topic, first by calculating each motor power vector with the angle of axial direction come zoning, two then provided according to controller
Free degree controlled quentity controlled variable with the angle of axial direction judges the controlled quentity controlled variable affiliated area, so as to select the engine of start, then basis
Component size of the engine on the two free degree directions of starting shooting calculates their start duration ratio, and carries out break bounds situation
Processing, obtain real engine finally according to controlling cycle and start shooting duration.
Embodiment is illustrated below.
(1) dimensionality reduction of six degree of freedom problem
If spacecraft is configured with p (p >=12) individual engine.According to the coupling feelings of component of the engine in each control direction
Condition, former six degree of freedom control instruction assignment problem is decomposed, and is decomposed into several two degrees of freedom problems and single-degree-of-freedom is asked
Inscribe, and list each subproblem and be controlled the whole engines instructed corresponding to distribution.Comprise the following steps that：
1) power and moment components that every engine can be generated on six-freedom degree direction are listed.
2) component will more it be protruded in certain both direction, and the engine of component very little is chosen in the other direction, will
Engine with two equidirectional components is divided into one group, and the two directions are to constitute a two degrees of freedom subproblem.If no
In the presence of such engine, then the engine configuration is not suitable for engine described in this patent and uses strategy.
3) it is respectively F directions and M directions to set the two degrees of freedom direction, and F directions and M directions are above-mentioned six degree of freedom direction
In two different directions.The engine of distribution is instructed to have n (p >=n >=3) for the two parameter compensator.This n platform is started
The power or moment components that machine can be generated in F directions and M directions are written as following matrix form：
Wherein, TiFRepresent power/moment components of the generation of i-th engine in the directionf, TiMRepresent i-th engine
Power/the moment components produced on M directions, i ∈ 1 ... n }.
By exchanging A matrix columns, A matrixes are turned into A=[A1|A2] so that wherein A1For the row full rank square of 2 × 2 dimensions
Battle array.Take transformation matrixNonsingular transformation is carried out to matrix A, turned toForm.Wherein I2For two-dimentional unit matrix.
IfIt can bear, then the Algorithm for Solving two degrees of freedom subproblem in available step (2).Otherwise the engine configuration is not
Strategy is used suitable for engine described in this patent.
MatrixThe definition that can be born is：For matrixN >=1, if constraint inequation group
There is solution, then claimIt can bear, wherein vector, which refers to its all elements less than zero, is smaller than zero.
4) determine after all two parameter compensator subproblems, remaining free degree direction as single-degree-of-freedom problem at
Reason.It in remaining engine, can will directly provide or correspondence single-degree-of-freedom direction controlling is provided by way of engine is combined
It is one group that the engine or cluster engine of power or torque, which pick out volume, is combined as the corresponding engine of the single-degree-of-freedom problem.
(2) two parameter compensator instruction distribution subproblem is solved
If instructing n (p >=n >=3) platform engine of distribution for the two parameter compensator, numbering is 1~n.
Fig. 1 is FB(flow block) of the two degrees of freedom engine of the present invention using strategy, gives the stream of engine application method
Cheng Tu, comprises the following steps：
1) engine vector angle is calculated, is specially：
If numbering is i (i ∈ { 1 ... n }) engine, the component in F directions and M directions is designated as TiFAnd TiM, then every
Engine and the angle in F directions are calculated as follows：
If TiF>=0 and TiM>=0, θi=arctan (TiM/TiF)
If TiF<0 and TiM>=0, θi=π+arctan (TiM/TiF)
If TiF<0 and TiM<0, θi=π+arctan (TiM/TiF)
If TiF>=0 and TiM<0, θi=2 π+arctan (TiM/TiF)
So as to obtain n platforms engine and F angular separations θ1~θn。
2) selection start engine
To each controlling cycle, the sextuple control instruction that controller is provided contains the position control on above three direction
Amount and attitude control quantity demand.If the controlled quentity controlled variable of controller output and the form of non-force and torque, but the shape of available machine time
Formula, then need to turn to it into the form of power or torque as the following formula：
Wherein, the control ability nominal value in this direction set when a is controller design, △ t are controlling cycle；It is equivalent
Controlled quentity controlled variable is power and torque form, if controller is output as power and torque form, is directly followed the steps below：
If obtaining the equivalent sextuple control instruction vector u of power and torque form, its corresponding two degrees of freedom subproblem is i.e. in F
It is respectively u with the control instruction component on M directionsFAnd uM, constitute two-dimentional instruction vector [uF uM] with the angle in F directions as the following formula
Calculate：
If uF>=0 and uM>=0, θu=arctan (uM/uF)
If uF<0 and uM>=0, θu=π+arctan (uM/uF)
If uF<0 and uM<0, θu=π+arctan (uM/uF)
If uF>=0 and uM<0, θu=2 π+arctan (uM/uF)
By step 1) in θ1~θnBy being arranged in order from small to large, and by θuIt is compared one by one with them.If met such as
Lower two conditions：
①θi≤θu<θj(i,j∈{1,...n})
2. forK ≠ i and k ≠ j, θi<θk<θjIt is invalid
Then start engine mumber is i and j.
3) engine start duration calculation
If step 2) in the component of the start engine i and j that selects in F directions and M directions be designated as T respectivelyiF、TiMAnd TjF、
TjM, then their start duration calculation formula is as follows：
K=TiFTjM-TjFTiM
Wherein,WithFor the start duration virtual value of the two engines.
If result of calculation is metAndI, j ∈ 1 ... and n }, then go to step 5).Otherwise go to step 4).
4) start duration break bounds processing
In the case that controller output is in the range of the control ability, step 3) result of calculation scope be generallyi∈{1,...n}.The 3 of step (1)) it ensure thatForSituation, referred to as start shooting duration surpass
Boundary, processing method in this case is as follows：
1. the start duration for there was only 1 engine is more than 1
The demand for control (such as gesture stability demand) of a direction can preferentially be met.If i.e. ti *>1, then preferentially meet M
Or F direction controlling demands, calculation formula is as follows the engine available machine time when preferentially meeting M directions, and preferentially meeting F directions only needs handle
Subscript M in following formula is changed to F；
After above-mentioned processing, if still suffering from the engine that start duration is more than 1, duration indirect assignment of being started shooting is 1.
If 2. 2 engine start durations are all more than 1, they are directly entered as 1.
5) start duration actual value is calculated
In a controlling cycle, the true duration of engine start is provided by following formula：
Wherein, △ t are controlling cycle.
(3) single-degree-of-freedom control instruction distribution subproblem is solved
Single-degree-of-freedom instruction distribution subproblem is divided into two kinds of situations：
If the control instruction input 1. on the free degree direction is start duration, directly to change, subproblem is corresponding to start
The available machine time assignment of machine or cluster engine.
If the controlled quentity controlled variable input 2. on the free degree direction is power/torque, engine is corresponded to itself divided by its or is started
Power/the torque of unit in this direction, obtains duration virtual value of starting shooting, then multiplied by with controlling cycle, when truly being started shooting
It is long, it is corresponding engine assignment.
(4) the start duration of each start engine is obtained by above-mentioned steps, it is direct to the start duration beyond controlling cycle
Controlling cycle is entered as, 0 is entered as to the start duration for engine of not starting shooting, control instruction is assigned.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (1)
1. a kind of coupling process of rail control engine, it is characterised in that comprise the following steps：Spacecrafts rendezvous is related to three axles first
The son that position, the sextuple control instruction assignment problem of the six degree of freedom control task of posture are decomposed into up to two degrees of freedom is asked
Topic, if two free degree directions in the two degrees of freedom subproblem are respectively F directions and M directions, wherein, F and M directions be six from
By spending two different directions in direction, then two parameter compensator instruction distribution subproblem is handled according to the following steps；
If instructing the n platform engines of distribution for the two parameter compensator, numbering is 1~n；Wherein, p is that spacecrafts rendezvous task is total
Engine configuration number of units, and p >=n >=3, p >=12；
1) engine vector angle is calculated, is specially：
If numbering is i, i ∈ { 1 ... n }, component of the engine in F directions and M directions be designated as TiFAnd TiM, then every engine
It is calculated as follows with the angle in F directions：
If TiF>=0 and TiM>=0, θi=arctan (TiM/TiF)
If TiF<0 and TiM>=0, θi=π+arctan (TiM/TiF)
If TiF<0 and TiM<0, θi=π+arctan (TiM/TiF)
If TiF>=0 and TiM<0, θi=2 π+arctan (TiM/TiF)
So as to obtain n platforms engine and F angular separations θ1~θn；
2) selection start engine
If the controlled quentity controlled variable of controller output and the form of non-force and torque, but the form of available machine time, then needed the available machine time
The form of power or torque is turned to as the following formula：
Wherein, the control ability nominal value in this direction that sets when a is controller design, during △ t are controlling cycle, formula, etc.
Effect controlled quentity controlled variable is the power and torque after conversion；
The equivalent sextuple control instruction vector u of power and torque form is changed on two degrees of freedom subproblem, i.e. F and M directions
Control instruction component is respectively uFAnd uM, constitute two-dimentional instruction vector [uF uM] be calculated as follows with the angle in F directions：
If uF>=0 and uM>=0, θu=arctan (uM/uF)
If uF<0 and uM>=0, θu=π+arctan (uM/uF)
If uF<0 and uM<0, θu=π+arctan (uM/uF)
If uF>=0 and uM<0, θu=2 π+arctan (uM/uF)
By step 1) in θ1~θnBy being arranged in order from small to large, and by θuWith θ1~θnIt is compared one by one, if met as follows
Two conditions, then engine mumber of starting shooting is i and j；
Condition 1：θi≤θu<θj(i,j∈{1,...n})
Condition 2：ForK ≠ i and k ≠ j, θi<θk<θjIt is invalid；
3) engine start duration calculation
If step 2) in the component of the start engine i and j that selects in F directions and M directions be designated as T respectivelyiF、TiMAnd TjF、TjM,
Then engine i and j start duration calculation formula is as follows：
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K=TiFTjM-TjFTiM
Wherein,WithFor the start duration virtual value of the two engines；
If result of calculation is metAndI, j ∈ 1 ... and n }, then go to step 5), otherwise go to step 4)；
4) start duration break bounds processing
ForSituation, duration break bounds of referred to as starting shooting, processing method in this case is as follows：
1. the start duration for having 1 engine is more than 1
The preferential demand for control for meeting a direction, if that is,Then preferentially meet the engine of M or F direction controlling demands
Available machine time calculation formula is as follows
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In formula：X is M or F in subscript；When preferentially meeting M directions, X is M in formula；When preferentially meeting F directions, X is F in formula；
After above-mentioned processing, if still suffering from the engine that start duration is more than 1, duration indirect assignment of being started shooting is 1；
If 2. 2 engine start durations are all more than 1,2 engines are directly entered as 1；
5) engine i and j start duration actual value are calculated
In a controlling cycle, the true duration of engine i and j start is provided by following formula：
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Wherein, △ t are controlling cycle；Wherein tiFor engine i start duration, tjFor engine j start duration；
6) the start duration of each start engine, long-press above-mentioned step during to start without departing from controlling cycle are obtained by above-mentioned steps
Suddenly the start duration assignment obtained, is controlling cycle to the start duration indirect assignment beyond controlling cycle, starts to not starting shooting
The start duration of machine is entered as 0, and control instruction is assigned.
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| CN109976360B (en) * | 2019-03-11 | 2021-10-01 | 北京控制工程研究所 | Thruster configuration method based on configuration matrix |
| CN111610795B (en) * | 2020-05-12 | 2023-04-14 | 北京控制工程研究所 | Pseudo-inverse solvable minimum configuration attitude control thruster instruction distribution method |
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