CN106681340B - A kind of assembly racemization based on Tau theory and reorientation method for planning track - Google Patents
A kind of assembly racemization based on Tau theory and reorientation method for planning track Download PDFInfo
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- CN106681340B CN106681340B CN201611033302.4A CN201611033302A CN106681340B CN 106681340 B CN106681340 B CN 106681340B CN 201611033302 A CN201611033302 A CN 201611033302A CN 106681340 B CN106681340 B CN 106681340B
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The present invention provides a kind of assembly racemizations based on Tau theory and reorientation method for planning track, belong to spacecraft attitude dynamics field, it will receive the characteristics of a variety of perturbation factors influence when for high area-mass ratio spacecraft in orbit, two processes of posture racemization and posture reorientation are analyzed respectively, it is then based on Tau theory and trajectory planning is carried out respectively to the two processes, with torque output construction objective function, offsets the torque output during revolving and optimize.Method provided by the present invention is a kind of bionics method, it is that the conclusion and summary for being formed by instinctive movement are being continued to optimize by thousands of years to the animal of nature, has certain optimality.This method is used not only for the racemization and reorientation process of spacecraft simultaneously, during the rendezvous guidance that can be also used for spacecraft.
Description
Technical field
The present invention relates to a kind of assembly racemizations and reorientation method for planning track, belong to spacecraft attitude dynamics neck
Domain.
Background technique
With mankind's space operation be continuously increased and the continuous development of space technology, guarantee that spacecraft is in-orbit long-term steady
Fixed operation has become current major issue urgently to be resolved.In this case, in-orbit service technology is as extension space
Device service life, the key technology for safeguarding SPACE SECURITY will become the research hotspot of future space technology.The target of On-orbit servicing
It include that failure spacecraft and space debris, these targets typically exhibit Non-synergic, i.e., without being used for Servicing spacecraft
The cooperation marker of measurement and the device of docking have become a new, independent research to the in-orbit service of such spacecraft
Direction.In view of On-orbit servicing technology is in maintenance space safety, saving launch cost and raising military space capability etc.
The very big adaptability that aspect is shown, this technology cause the concern of each spacefaring nation in the world.With the U.S., Russia, Europe
Continent and Japan are that the spacefaring nation of representative has early begun to the research and experiment of Space Autonomous in-orbit service technology, including track
Multiple plans including express plan, ETS engineering test satellite-VII and Experimental Satellite System etc. are all to On-orbit servicing skill
The verifying and test of art.
Currently, expanding research to multiple key technologies during On-orbit servicing there are many scholar.To existing
Some research achievements carry out analysis comparison it finds that, current research is concentrated mainly on the following aspects: 1) to non-cooperation
The parameter identification and three-dimensionalreconstruction of target, since noncooperative target generally can not provide the position and posture of itself to Servicing spacecraft
And mass inertia parameter information, therefore Servicing spacecraft is just needed to carry out using the equipment entrained by itself to passive space vehicle
Measurement, is recognized by parameter information of the various algorithms to noncooperative target, to realize the Three-dimensional Gravity to noncooperative target
Structure；2) planning in discretionary security intersection path is generally in freedom since noncooperative target is influenced by the various perturbative forces in space
Tumbling state, therefore in order to realize the safety docking with noncooperative target, it is necessary to plan that can be realized a collision avoidance etc.
The intersection path of Complex Constraints；3) the adapter tube control for arresting rear assembly, since the mass inertia information of noncooperative target cannot
It is accurately known while being in tumbling state, therefore just need to design various controllers and realize the stability contorting for arresting rear assembly.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of bionical method for planning track based on Tau theory, right
Assembly carries out racemization and reorientation trajectory planning.Tau theory refers to time of contact (time-to-contact, TTC) i.e.
It can directly be extracted from the vision system of humans and animals.Tau theory is a kind of bionical theory, and scholar LEE is being tested
The video recording that gannet is fished under middle record, analysis find that gannet can use Tau clue and accurately control fishing operations.Then, LEE etc.
Broad sense Tau theory was proposed in 2010, he thinks that Tau variable can be used to instruct all movements of humans and animals.The present invention
During this theoretical research achievement of Tau is applied to the racemization and reorientation of assembly, while by being carried out to coupling factor
Optimizing, thus the torque output during reducing, and its validity is proved by simulation analysis.
The technical solution adopted by the present invention to solve the technical problems the following steps are included:
Step 1, after Servicing spacecraft successfully arrests space non-cooperative target, the assembly that the two is constituted is in space freedom
Rolling, the angular-momentum vector of initial time assemblyIn formulaIndicate initial time angular momentum
Three components in inertial system, are obtained by the measuring device on Servicing spacecraft；
The variation at angular momentum interval is expressed asIn formula
Angular momentum is respectively indicated along inertial coodinate system x, y, the variation function of three components in z-axis direction t at any time, TgAs defined in expression
Racemization time, kxg,kyg,kzgThe coupling factor along three component directions is respectively indicated, value range is (0,1)；
Calculate control momentAlong inertial coodinate system x, y, the variation function of three components in z-axis direction t at any time
Obtain the control moment indicated in body coordinate systemInertial coodinate system turns to body coordinate system
Change matrix Table
Show attitude quaternion of the assembly ontology relative to inertial system；
Step 2 is exported with the torque during racemization as objective functionIt obtains
Corresponding to the smallest coupling factor k of energy consumptionxg,kyg,kzg, posture racemization is realized at the appointed time；
Step 3 measures the posture information after the completion of racemization by measuring device entrained on assembly, group
Pose transformation matrix before and after fit racemization For from initial attitude to mesh
The unit vector of the rotary shaft of posture is marked, θ is the total angle of rotation from initial attitude to targeted attitude, I in formula3Indicate three rank unit squares
Battle array,It indicates relative to rotary shaftDiagonally opposing corner matrix；
The variation of angle interval is obtained according to Tau-g guiding strategy
K in formulaCgIndicate the coupling factor of corner spacing, 0 < kCg< 0.5；
Assembly is expressed as relative to the change procedure of the direction cosine matrix of initial attitude
The beneficial effects of the present invention are: different from traditional planing method, this paper presents a kind of boats based on Tau theory
Its device posture racemization and reorientation method for planning track.Tau theory is a kind of bionical theory, it is to the birds in nature
Equal animals pass through the natural evolvement of thousands of years and continue to optimize the conclusion and summary for being formed by instinctive movement.Based on Tau
Theoretical spacecraft attitude racemization and reorientation method for planning track can use bionical method and realize to spacecraft attitude
Quick racemization and reorientation, and have certain optimality.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the change curve of assembly angular momentum during racemization；
Fig. 3 is the change curve of assembly angular speed during racemization；
Fig. 4 is the change curve of attitude quaternion during racemization；
Fig. 5 is the output curve diagram of control moment during racemization；
Fig. 6 is the change curve of Euler's corner during reorientation.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention proposes a kind of trajectory planning based on Tau theory for the posture racemization of assembly and reorientation problem
Method realizes the planning to assembly racemization and reorientation process by the selection to Tau variable.
Process of the invention is as shown in Figure 1, comprising the following steps:
Step 1: determining the angular momentum distribution of assembly by the measuring instrument carried on assembly, it is then based on inside
The racemization path of Tau-g boot policy planning assembly
After Servicing spacecraft successfully arrests space non-cooperative target, the two constitutes an entirety, present invention assumes that arresting
Relative motion is not present between the two afterwards, can then treat them as a unified rigid body.Since initial time combines
Body can then be obtained by the law of conservation of angular momentum in space free to tumble
In formulaIndicate the angular-momentum vector of initial time assembly,Indicate initial time angular momentum
Three components in inertial system.
Since serving satellite carries the posture information that enough sensors can be used to measure itself, then when service is navigated
After its device and objective cross are an entirety, the posture letter of assembly can be obtained by the measuring device on Servicing spacecraft
Breath, is then calculated the angular momentum distribution situation of assembly, i.e.,Size.
In order to carry out stipulated time T to assemblygInterior racemization is then required in TgThe angular momentum of moment assemblyBecome
Zero.According to internal Tau-g boot policy it is found that the variation at angular momentum interval can be expressed as
In formulaAndAngular momentum is respectively indicated along inertial coodinate system x, y, three of z-axis direction
The variation function of component t at any time, TgRacemization time as defined in indicating, kxg,kyg,kzgIt respectively indicates along three component directions
Coupling factor.
It can be obtained by the moment of momentum theorem
In formulaIndicate the control moment acted on assembly.Then it can obtain
In formulaAndIndicate control momentAlong inertial coodinate system x, y, z-axis direction
Three components t at any time variation function.
During practical racemization, control moment is applied in assembly body coordinate system, it is therefore desirable to will be controlled
TorqueIt is transformed into body coordinate system.Specific transform mode is as follows
It can be expressed as by the transformed matrix of inertial coodinate system to body coordinate system
WhereinIndicate attitude quaternion of the assembly ontology relative to inertial system.
Again by angular momentum theorem it is found that the attitude angular velocity of assembly is during racemization
In formulaIndicate expression of the attitude angular velocity of assembly under body coordinate system.
Then the rotational motion equation indicated with quaternary number is
In formulaIndicate assembly angular speedThree components in this system.
Then it can be obtained by the control moment indicated in body coordinate system
Step 2: exporting with the torque during racemization as objective function, optimal Tau-g coupling factor is selected, is realized
Output torque is minimum, is finally completed realization posture racemization at the appointed time
Known to internal Tau-g boot policy (withFor interval), kxgAngular momentum spacingInfluence it is as follows
● work as kxgWhen > 1,Can be intended to it is infinite,Derivative also tend to it is infinite.
● work as kxgWhen=1,It can be intended to zero,Derivative also tend to
● as 0 < kxgWhen < 1,It can be intended to zero,Derivative also tend to zero.
● work as kxgWhen < 0,Can be intended to it is infinite,Derivative also tend to it is infinite.
Since the derivative of angular momentum corresponds to input torque, and the output of spaceborne torque is limited, therefore in order to
Reasonable racemization, coupling factor k are carried out to assemblyxg,kyg,kzgRange of choice be (0,1).
Since the energy of in-orbit spacecraft is limited, it is therefore necessary to it offsets the energy during revolving and optimizes, it is excellent
Changing objective function can be expressed as
It is available corresponding to the smallest coupling factor k of energy consumption by optimizingxg,kyg,kzg。
Step 3: being measured by measuring device entrained on assembly to the posture information after the completion of racemization, so
Reorientation path afterwards based on Tau-g boot policy planning assembly
After assembly completes racemization, it will be remained stationary with a certain posture relative to inertial space.Assuming that initial time
Assembly is C relative to the pose transformation matrix of inertial coodinate systemini, the expectation posture of terminal juncture assembly is relative to inertia
The transition matrix of coordinate system is Ctag。
Then it is by the transition matrix that initial attitude transforms to targeted attitude
According to the finite rotation of rigid body theorem of Euler, the movement from initial attitude to targeted attitude can be by around fixation
Restricted rotational movement of axis is realized.DefinitionFor the unit vector of rotary shaft, θ is the total angle of rotation from initial attitude to targeted attitude,
θ (t) indicates the angle that t moment turns over.Obvious θ (0)=0, θ (T)=θ.Due toWith the coordinate battle array phase of tensor of finite rotation
Deng that is,
I in formula3Indicate three rank unit matrixs,Indicate rotation axis in the coordinate square matrix of original body coordinate system.It indicates
Coordinate square matrix in original body coordinate system, expression formula are
It can be obtained by two formulas above
C in formulaijRepresenting matrixThe i-th row, jth column element.
It is thus according to the tactful variation that can obtain angle interval of Tau-g guiding
K in formulaCgIndicate that the coupling factor of corner spacing should take 0 < k according to the analysis of internal tau-g boot policyCg<
0.5。
Then assembly can be expressed as relative to the change procedure of the direction cosine matrix of initial attitude
Assembly body coordinate system is relative to the direction cosine matrix of inertial coodinate system
C=C (t) Cini
Angular velocity vector in assembly body coordinate system is
Simulation example, in order to illustrate the feasibility and validity of this method, it is assumed that the inertia matrix of assembly is
Initial angular velocity isWhile initial attitude quaternion is
It is emulated.
Firstly, carrying out racemization to assembly according to Tau-g guiding strategy and optimizing, racemization process is assumed in the present invention
Duration be 10s, then simulation result is as shown in Figure 2-5.Assembly angular momentum is in inertial system during Fig. 2 indicates racemization
Variation, Fig. 3 indicates the change curve of angular speed during racemization, and Fig. 4 indicates that the variation of attitude quaternion during racemization is bent
Line, Fig. 5 indicate the change curve of control moment during racemization.
Then, after the completion of racemization, assembly is fixed with a certain posture relative to inertial space, but is not desired
Posture, is then based on Tau-g boot policy and is combined body and orienting, and simulation result is as shown in Figure 6.Fig. 6 indicates reorientation mistake
The change curve of Euler's corner in journey.
Claims (1)
1. a kind of assembly racemization based on Tau theory and reorientation method for planning track, it is characterised in that include the following steps:
Step 1, after Servicing spacecraft successfully arrests space non-cooperative target, the two constitutes an entirety, it is assumed that two after arresting
Relative motion is not present between person, is considered as a unified rigid body, since initial time assembly is in space free to tumble, by angle
Principle of conservation of momentum can obtain:
In formulaIndicate the angular-momentum vector of initial time assembly, Indicate initial time angular momentum in inertia
Three components in system, are obtained by the measuring device on Servicing spacecraft；
The variation at angular momentum interval is expressed asIn formulaRespectively
Indicate angular momentum along inertial coodinate system x, y, the variation function of three components in z-axis direction t at any time, TgRacemization as defined in indicating
Time, kxg,kyg,kzgThe coupling factor along three component directions is respectively indicated, value range is (0,1)；
Calculate control momentAlong inertial coodinate system x, y, the variation function of three components in z-axis direction t at any time
Obtain the control moment indicated in body coordinate systemConversion square of the inertial coodinate system to body coordinate system
Battle array Expression group
Attitude quaternion of the fit ontology relative to inertial system；
Step 2 is exported with the torque during racemization as objective functionIt is corresponded to
In the smallest coupling factor k of energy consumptionxg,kyg,kzg, posture racemization is realized at the appointed time；
Step 3 measures the posture information after the completion of racemization by measuring device entrained on assembly, assembly
Pose transformation matrix before and after racemization For from initial attitude to target appearance
The unit vector of the rotary shaft of state, θ are the total angle of rotation from initial attitude to targeted attitude, I in formula3Indicate three rank unit matrixs,
It indicates relative to rotary shaftDiagonally opposing corner matrix；
The variation of angle interval is obtained according to Tau-g guiding strategy
K in formulaCgIndicate the coupling factor of corner spacing, 0 < kCg< 0.5；
Assembly is expressed as relative to the change procedure of the direction cosine matrix of initial attitude
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| CN108363840B (en) * | 2018-01-23 | 2022-03-01 | 中国人民解放军战略支援部队航天工程大学 | Cluster spacecraft magnetic moment optimal distribution method based on electromagnetic force |
| CN110712772B (en) * | 2019-10-30 | 2021-07-06 | 上海航天控制技术研究所 | Rotating target attitude stabilization method based on fly net tension control |
| CN113580138B (en) * | 2021-08-13 | 2022-07-19 | 郑州大学 | Robot track planning method based on Tau-E |
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| CN106055901A (en) * | 2016-06-02 | 2016-10-26 | 西北工业大学 | Method for determining timing of capturing tumbling target by free floating space robot |
| CN106114919A (en) * | 2016-08-01 | 2016-11-16 | 北京理工大学 | A kind of space junk rope system pulls racemization and method for cleaning |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106055901A (en) * | 2016-06-02 | 2016-10-26 | 西北工业大学 | Method for determining timing of capturing tumbling target by free floating space robot |
| CN106114919A (en) * | 2016-08-01 | 2016-11-16 | 北京理工大学 | A kind of space junk rope system pulls racemization and method for cleaning |
Non-Patent Citations (2)
| Title |
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| "Optimal Control of a Space Manipulator for Detumbling of a Target Satellite";Farhad Aghili 等;《2009 IEEE International Conference on Robotics and Automation》;20090517;全文 |
| "基于Tau理论的机器人抓取运动仿生轨迹规划";张书涛 等;《机械工程学报》;20140731;第50卷(第13期);全文 |
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