CN105955028B - A kind of spacecraft is in-orbit to evade Guidance and control Integrated Algorithm - Google Patents
A kind of spacecraft is in-orbit to evade Guidance and control Integrated Algorithm Download PDFInfo
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- CN105955028B CN105955028B CN201610388966.6A CN201610388966A CN105955028B CN 105955028 B CN105955028 B CN 105955028B CN 201610388966 A CN201610388966 A CN 201610388966A CN 105955028 B CN105955028 B CN 105955028B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
Evade Guidance and control Integrated Algorithm the invention discloses a kind of spacecraft is in-orbit, including establishes relative motion model；Design potential function and sliding formwork control Guidance and control Integrated Algorithm；It analyzes the robustness of the algorithm and provides safe trajectory space；Effectiveness of the invention is demonstrated finally by simulation example.The present invention analyzes the security interval for depositing safe trajectory in an interference situation, quickly in-orbit it can calculate and control spacecraft progress Real Time Obstacle Avoiding, and ensures spacecraft avoiding barrier in safe range, be beneficial to Future Spacecraft and more reliably carry out in-orbit aerial mission.
Description
【Technical field】
The invention belongs to technical field of spacecraft control, it is related to that a kind of spacecraft is in-orbit to evade Guidance and control integration calculation
Method.
【Background technology】
With the continuous improvement to space research, exploitation and application power, various countries develop in succession and transmit largely towards
The spacecraft of various mission requirements, by being initially entered into space and utilizing space to spatial operation and space application.And spatial operation
Independence, safety etc. it is also gradually of interest by people.
In recent years, artificial potential function method (Artificial potential in the guidance of spacecraft safe trajectory
Function, APF) more and more used.It is initially by Khatib in " Real-Time Obstacle Avoidance
It proposes in for Manipulator and Mobile Robots ", is asked in the path planning of operating space for solving mechanical arm
Topic, basic thought are construction target gravitational field and barrier repulsion field, their collective effects search potential function potential energy is made to decline
Path is touched in direction to find nothing.McInnes is in " Autonomous Rendezvous Using Artificial Potential
Up to the present being applied for being proposed in Function Guidance " has had 20 years, phase in spacecraft field
Document in terms of pass has very much, develops relative maturity.For example Ender St.John are in " Ankersen F.Safety-
critical autonomous spacecraft proximity operations via potential function
It proposes to apply it in the spacecrafts rendezvous of autonomous transfer vehicle ATV, HTV and ISS, as a result to make us full in guidance "
Meaning.Zhang Dawei et al. is in " Safe Guidance for Autonomous Rendezvous and Docking with a
It proposes to apply artificial potential function in the spacecrafts rendezvous task of noncooperative target in Non-Cooperative Target ", and
Be combined with fuzzy control method, hide for dynamic barrier and dock safe trajectory constraint carried out research and policy.Text
It offers in " Swarm aggregations using artificial potentials and sliding mode control "
It proposes artificial potential function and sliding formwork control being combined and assembles applied to satellite and form into columns.Document " Autonomous
Distributed Control Algorithm for Multiple Spacecraft in Close Proximity
It proposes artificial potential function method and LQR methods being combined in the short-range operation applied to multiple target in Operations ".Artificial gesture
There is function method stability easily to judge, the remarkable advantages such as computational efficiency height, be the intersection that a kind of comparison is suitably applied in autonomous type
Artificial intelligence approach in docking mission.And sliding formwork control be suitable for linearity and non-linearity system, continuously with discrete system, determination
With uncertain system etc., this control method makes system mode be slided along sliding-mode surface by the switching of controlled quentity controlled variable, and system is made to exist
By when Parameter Perturbation and external interference have invariance.Years development is undergone, has become and has automatically controlled a kind of universal set
Meter method.But there are problems that certain buffeting.
By advantage of the potential function method in the evading of barrier and sliding formwork control for the formedness of nonlinear Control
Can, two methods are combined by the present invention, and by robust control theory devise one kind can be interfered in existence position and
The Guidance and control Integrated Algorithm that Obstacle avoidance is carried out in the case of measurement error, may be implemented the trajectory planning of any position
Hide with static or dynamic barrier.
【Invention content】
It is an object of the invention to effective avoiding barrier when flight in-orbit for spacecraft, improve the need of flight safety
It asks, provides that a kind of spacecraft is in-orbit to evade Guidance and control Integrated Algorithm, which can improve the real-time and safety of avoidance
Property.
In order to achieve the above objectives, the present invention is achieved by the following scheme：
A kind of spacecraft is in-orbit to evade Guidance and control Integrated Algorithm, includes the following steps：
1) Spacecraft Relative Motion equation is established
Using target track coordinate system as reference frame, Spacecraft Relative Motion kinetics equation is established：
Matrix A and D are described as：
Wherein, ω is the orbit angular velocity of passive space vehicle, and u is that the control of pursuit spacecraft exports, and d is not model mistake
The unknown disturbances of difference, including the Gradient of Gravitation error, various perturbations, the unknown control force of target or other immeasurabilities and estimation；
Kinetics equation therein can be changed to any Spacecraft Relative Motion kinetic model；
2) it designs potential function and control algolithm is guided in sliding formwork control integration
The potential function of spacecraft is defined in state space, if state variable is x, desired state is xd；Gravitational potential letter
Number promotes pursuit spacecraft to reach preset dbjective state, therefore gravitational potential function is designed as：
Position and speed information is contained simultaneously in gravitational potential function, describes and it is expected the position of tracking and becoming for its movement
Gesture；Wherein Pp、PvFor positive definite matrix；
Repulsion gesture selects Gaussian function：
Wherein, ψ indicates that the height of repulsion gesture, σ indicate the width of repulsion gesture, and matrix N is shape square related with barrier shape
Battle array；Subscript i indicates multiple and different barriers；Total potential energy indicates that potential energy is gravitation to spacecraft in the presence of obstructions
The sum of gesture and repulsion gesture；The gradient of potential function provides the sliding-mode surface of sliding formwork control：
The gradient of energy field representated by artificial potential function is used for indicating the direction that its energy declines, and the place that energy is high
The virtual repulsion gesture caused by barrier replaces, and low potential field is replaced by the desired trajectory of planning, therefore along gradient side
To path be to meet the secure path of mission planning；
The convergence of sliding formwork control must satisfy：
Controller design is carried out using Hamilton-Jacobi Inequality theories；Its robustness uses L2Gain
Form is described：
Wherein assume that z is sliding-mode surface；Defining lyapunov functions is：
Because control stability needs to meetTherefore design controller is：
It is obtained by verifying Hamilton functions：
Hence it is demonstrated that control system is still stablized in the presence of interference；
3) robust analysis
When considering measurement error, control force is expressed as：
Definitionλ(A) andThe respectively minimum and maximum characteristic value of matrix A；FtCoefficient is linearized for kinetics equation
Matrix, HtFor calculation matrix；For simplicity, it enablesAnd it defines：
For sensor, measurement data sample rate is p, has following expression at each moment：
Assuming that the track of pursuit spacecraft has 99.74% probability to be within the scope of safe trajectory, i.e., state value is inSection, whereinTherefore the limits of error of sliding-mode surface s is obtained by mean value theorem：
Wherein
The stabilization of system and the measurement accuracy of sensor are related at this time, and the measurement noise by being derived by sensor need to expire
Foot such as lower inequality time control system, which just can guarantee, to be stablized and within the scope of above-mentioned safe trajectory：
Wherein,
Compared with prior art, the invention has the advantages that：
The present invention proposes a kind of Guidance and control Integrated Algorithm of the in-orbit avoidance of spacecraft, and analyzes in the presence of interference feelings
The security interval of safe trajectory under condition.The algorithm quickly in-orbit can calculate and control spacecraft progress Real Time Obstacle Avoiding, and really
Spacecraft avoiding barrier in safe range is protected, is beneficial to Future Spacecraft and more reliably carries out in-orbit aerial mission.
【Description of the drawings】
Relative movement orbit figure when Fig. 1 is static-obstacle thing avoidance；
Fig. 2 is Monte-Carlo method figure；
Fig. 3 is relative movement orbit figure when barrier moves.
【Specific implementation mode】
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1-Fig. 3, spacecraft of the present invention is in-orbit to evade Guidance and control Integrated Algorithm, includes the following steps：
1) Spacecraft Relative Motion equation is established
Using target track coordinate system as reference frame, Spacecraft Relative Motion kinetics equation is established：
Matrix A and D are described as：
Wherein, ω is the orbit angular velocity of passive space vehicle, and u is that the control of pursuit spacecraft exports, and d is not model mistake
The unknown disturbances of difference, including the Gradient of Gravitation error, various perturbations, the unknown control force of target or other immeasurabilities and estimation；
Kinetics equation therein can be changed to any Spacecraft Relative Motion kinetic model；
2) it designs potential function and control algolithm is guided in sliding formwork control integration
The potential function of spacecraft is defined in state space, if state variable is x, desired state is xd；Gravitational potential letter
Number promotes pursuit spacecraft to reach preset dbjective state, therefore gravitational potential function is designed as：
Position and speed information is contained simultaneously in gravitational potential function, describes and it is expected the position of tracking and becoming for its movement
Gesture；Wherein Pp、PvFor positive definite matrix；
Repulsion gesture selects Gaussian function：
Wherein, ψ indicates that the height of repulsion gesture, σ indicate the width of repulsion gesture, and matrix N is shape square related with barrier shape
Battle array；Subscript i indicates multiple and different barriers；Total potential energy indicates that potential energy is gravitation to spacecraft in the presence of obstructions
The sum of gesture and repulsion gesture；The gradient of potential function provides the sliding-mode surface of sliding formwork control：
The gradient of energy field representated by artificial potential function is used for indicating the direction that its energy declines, and the place that energy is high
The virtual repulsion gesture caused by barrier replaces, and low potential field is replaced by the desired trajectory of planning, therefore along gradient side
To path be to meet the secure path of mission planning；
The convergence of sliding formwork control must satisfy：
Controller design is carried out using Hamilton-Jacobi Inequality theories；Its robustness uses L2Gain
Form is described：
Wherein assume that z is sliding-mode surface；Defining lyapunov functions is：
Because control stability needs to meetTherefore design controller is：
It is obtained by verifying Hamilton functions：
Hence it is demonstrated that control system is still stablized in the presence of interference；
3) robust analysis
When considering measurement error, control force is expressed as：
Definitionλ(A) andThe respectively minimum and maximum characteristic value of matrix A；FtCoefficient is linearized for kinetics equation
Matrix, HtFor calculation matrix；For simplicity, it enablesAnd it defines：
For sensor, measurement data sample rate is p, has following expression at each moment：
Assuming that the track of pursuit spacecraft has 99.74% probability to be within the scope of safe trajectory, i.e., state value is inSection, whereinTherefore the limits of error of sliding-mode surface s is obtained by mean value theorem：
Wherein
The stabilization of system and the measurement accuracy of sensor are related at this time, and the measurement noise by being derived by sensor need to expire
Foot such as lower inequality time control system, which just can guarantee, to be stablized and within the scope of above-mentioned safe trajectory：
Wherein,
Initial relative distance：[- 1,000 0 0], target relative distance：[-10 0 0]T, the unknown disturbance upper limit：2m/s2, adopt
Sample frequency：10HZ, site error：σx=σy=σz=0.3m, velocity error：Measurement angle is missed
Difference：σα=σβ=0.06 °, measurement distance error：σρ=0.5m, the thrust upper limit：200N.
Using in-orbit flight intersection task avoidance as example, illustrate Guidance and control Integrated Algorithm and security interval meter of the present invention
The validity of calculation.In tracing process, if sensor cannot provide correct measuring signal, Posterior estimator variance can be increased
Add, so that security boundary amplifies, it must more emat sensor or change control if security boundary and barrier have coincidence
Parameter processed.As shown in Figure 1, true movement locus is in tubular space.In order to further illustrate safe trajectory and robust point
The reliability of analysis has carried out Monte-Carlo method experiment in the case where not changing target preliminary orbit parameter, as shown in Fig. 2,
All tracks are in the tubular space of calculating, and keep safe distance with barrier, as can be seen from the figure really
The nearest distance of trajectory distance barrier is also above 20m.
And validity of the algorithm in dynamic barrier is evaded is demonstrated, design and simulation is as shown in figure 3, spacecraft point
It is not shown in 70s, 75s, 80s, pursuit spacecraft can succeed avoiding dynamic barrier, and eventually arrive at target location.
The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (1)
1. a kind of spacecraft is in-orbit to evade Guidance and control Integrated Algorithm, which is characterized in that include the following steps：
1) Spacecraft Relative Motion equation is established
Using target track coordinate system as reference frame, Spacecraft Relative Motion kinetics equation is established：
Matrix A and D are described as：
Wherein, ω is the orbit angular velocity of passive space vehicle, and u is that the control of pursuit spacecraft exports, and d is unmodeled dynamiocs, packet
Include the Gradient of Gravitation error, various perturbations, the unknown disturbances of the unknown control force of target or other immeasurabilities and estimation；
Kinetics equation therein can be changed to any Spacecraft Relative Motion kinetic model；
2) it designs potential function and control algolithm is guided in sliding formwork control integration
The potential function of spacecraft is defined in state space, if state variable is x, desired state is xd；Gravitational potential function promotes
Pursuit spacecraft reaches preset dbjective state, therefore gravitational potential function is designed as：
Position and speed information is contained simultaneously in gravitational potential function, describes the trend of the position for it is expected tracking and its movement；
Wherein Pp、PvFor positive definite matrix；
Repulsion gesture selects Gaussian function：
Wherein, ψ indicates that the height of repulsion gesture, σ indicate the width of repulsion gesture, and matrix N is shape matrix related with barrier shape；Under
Mark i indicates multiple and different barriers；Total potential energy indicate spacecraft in the presence of obstructions potential energy be gravitational potential and
The sum of repulsion gesture；The gradient of potential function provides the sliding-mode surface of sliding formwork control：
The gradient of energy field representated by artificial potential function be used for indicate its energy decline direction, and energy it is high place hindered
Virtual repulsion gesture caused by object is hindered to be replaced, low potential field is replaced by the desired trajectory of planning, therefore along gradient direction
Path is the secure path for meeting mission planning；
The convergence of sliding formwork control must satisfy：
Controller design is carried out using Hamilton-Jacobi Inequality theories；Its robustness uses L2The form of gain
It is described：
Wherein assume that z is sliding-mode surface；Defining lyapunov functions is：
Because control stability needs to meetTherefore design controller is：
It is obtained by verifying Hamilton functions：
Hence it is demonstrated that control system is still stablized in the presence of interference；
3) robust analysis
When considering measurement error, control force is expressed as：
Definitionλ(A) andThe respectively minimum and maximum characteristic value of matrix A；FtCoefficient matrix is linearized for kinetics equation,
HtFor calculation matrix；For simplicity, it enablesAnd it defines：
For sensor, measurement data sample rate is p, has following expression at each moment：
Assuming that the track of pursuit spacecraft has 99.74% probability to be within the scope of safe trajectory, i.e., state value is inSection, whereinTherefore the limits of error of sliding-mode surface s is obtained by mean value theorem：
Wherein
The stabilization of system and the measurement accuracy of sensor are related at this time, and the measurement noise by being derived by sensor need to meet such as
Control could ensure to stablize and within the scope of above-mentioned safe trajectory when lower inequality：
Wherein,
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| CN107168357B (en) * | 2017-06-30 | 2018-08-07 | 北京航空航天大学 | A kind of spacecraft attitude maneuver control method considering posture restraint and anti-unwinding |
| CN108375904B (en) * | 2018-02-28 | 2020-04-21 | 北京航空航天大学 | Non-cooperative target spacecraft rendezvous and docking final section saturation control method |
| CN109625332B (en) * | 2018-12-29 | 2022-03-01 | 西北工业大学 | Preset performance control method for track crossing of translation point without initial error symbol |
| CN109491406B (en) * | 2019-01-22 | 2022-05-03 | 中国人民解放军战略支援部队航天工程大学 | Spacecraft maneuver avoiding method based on energy consumption |
| CN109696917A (en) * | 2019-01-28 | 2019-04-30 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of spacecraft intersects barrier-avoiding method and system automatically |
| CN111707274B (en) * | 2020-05-29 | 2022-01-18 | 南京航空航天大学 | Energy-optimal spacecraft continuous dynamic obstacle avoidance trajectory planning method |
| CN111924139B (en) * | 2020-08-03 | 2022-05-24 | 北京理工大学 | Small celestial body landing obstacle avoidance constant thrust control method based on expansion early warning area |
| CN113371231B (en) * | 2021-06-25 | 2022-03-08 | 四川大学 | Spacecraft attitude control method with constraint |
| CN116165902B (en) * | 2023-04-25 | 2023-06-30 | 北京航空航天大学 | Anti-interference safety obstacle avoidance control method for spacecraft under incomplete measurement |
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| CN102354218A (en) * | 2011-06-24 | 2012-02-15 | 哈尔滨工业大学 | Sampling control method for relative motion of spacecrafts |
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