CN107102548A - A kind of the secondary of Spatial Instability noncooperative target arrests control strategy - Google Patents
A kind of the secondary of Spatial Instability noncooperative target arrests control strategy Download PDFInfo
- Publication number
- CN107102548A CN107102548A CN201710331953.XA CN201710331953A CN107102548A CN 107102548 A CN107102548 A CN 107102548A CN 201710331953 A CN201710331953 A CN 201710331953A CN 107102548 A CN107102548 A CN 107102548A
- Authority
- CN
- China
- Prior art keywords
- robot
- space
- attitude
- tether
- angular velocity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000011217 control strategy Methods 0.000 title claims abstract description 16
- 239000000446 fuel Substances 0.000 claims abstract description 9
- 239000011159 matrix material Substances 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 claims 1
- 238000005183 dynamical system Methods 0.000 abstract 1
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000368 destabilizing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Control strategy is arrested the present invention relates to a kind of the secondary of Spatial Instability noncooperative target, the track and posture dynamical system model of the robot of space rope system initially set up, then model is converted and analyzed, quadratic optimal control device is devised according to the requirement of the minimum fuel of orbits controlling, according to the secondary requirement for arresting strategy, based on attitude mode modeling inexactness, the influence of extraneous unknown disturbances etc. devises the Pseud-sliding mode control device of strong robustness.
Description
Technical Field
The invention belongs to the technical field of spacecraft control research, and relates to a secondary capture control strategy of a space instability uncooperative target.
Background
The space tether robot is connected with an operation and control aircraft through a tether, has multiple capturing capacity on a destabilizing target in a certain motion range, and can repeatedly use a novel space operation and control load. Due to the connection characteristic of the tether, the space tether robot can conveniently perform secondary capture after primary capture fails. The secondary capturing function is one of important functions for improving the work success rate of the secondary capturing function, and plays an important role in completing the capturing task.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a secondary capture control strategy for a space instability uncooperative target.
Technical scheme
A secondary capture control strategy for a space instability uncooperative target is characterized by comprising the following steps:
step 1: the space tethered robot starts to approach the target and meets the capture condition set by the systemAnd isEntering step 3; if the catching condition is not met, entering the step 2;
step 2: giving control system a desired position control command r for a rollback procedured1And desired attitude control command σd1The space rope-tied robot retreats to a safe distance under the action of the control system, and the step 1 is carried out;
and step 3: capturing, judging whether capturing is successful or not, if so, capturing is successful, and ending the task; if not, judging the tension F of the tethersWhether or not L is satisfieds≤FsIf it satisfiesIf yes, the tether is tensioned, and the step 4 is carried out; if not, indicating that the tether is loose, and entering step 6;
and 4, step 4: the rope-tied robot is stuck in the space of the rope-tied tensioning surface, and a control command r of an expected position under the condition that the control system is stuck is givend2And attitude control command σd2Entering step 5;
and 5: the control system adjusts the position and the posture of the space rope-tied robot and judges whether the space rope-tied robot reaches the expected position rd2And attitude σd2If yes, entering step 2; if not, repeating the step 5;
step 6: judging whether the attitude angular velocity satisfiesIf the angular velocity meets the requirement, the instability of the space rope robot is indicated, and the expected angular velocity under the instability condition of the control system is givenEntering step 7; if not, entering the step 2;
and 7: the control system adjusts the attitude angular velocity of the space tether robot and judges whether the space tether robot reaches the expected angular velocityIf yes, entering step 2; if not, repeating the step 7.
A control law for completing a secondary capture control strategy of the space instability uncooperative target is characterized in that:
firstly, establishing a space tether robot track and an attitude dynamics model:
wherein x, y, z arePosition of the spatial tether robot relative to the platform, FSx,Ftx,FSy,Fty,FSz,FtzThe three axial directions of the tether pulling force and the thruster pushing force are respectively generated by the force except the gravity applied to the space tether robot. n is the track angular velocity of the platform track, mc、IbThe mass and the moment of inertia of the space tether robot are respectively. SigmabH is the angular momentum of the space tethered robot for correcting the attitude vector of the space tethered robot body represented by the Rodrigues parameter;
h×an antisymmetric matrix that is a vector cross product operation:
G(σb) Is defined as:Tbthe external force moment applied to the space rope-tied robot body is obtained;
secondly, establishing an optimal quadratic form to optimally control the fuel consumption, wherein the optimal control law is as follows:
u＝-Kx
wherein K is such that the performance index J ═ xTQx+uTRu]dt is taken to be the solution at the minimum. The matrix Q, R in J is a Hermite positive definite matrix, xTQx denotes the state deviation in the control process, uTRu represents the energy consumed in the control process. The factor in R may be increased in order to reduce fuel consumption. The control output u at the moment is the resultant force F of the tether and the thruster acting on the space tether robot;
the sliding mode control law is as follows: τ ═ uc-ksat(s)
Where Λ is a symmetric positive definite matrix,is a deviation of attitude, σbcRepresenting the currently measured attitude angle, σbdA desired body attitude angle;in order to be an attitude angular velocity deviation,representing the currently measured attitude angular velocity,is the desired attitude angular velocity.A reference attitude angular velocity obtained by correcting the expected attitude angular velocity according to the position error;
advantageous effects
The invention provides a secondary capture control strategy for a space instability uncooperative target, which comprises the steps of firstly establishing a track and an attitude power system model of a space tethered robot, then transforming and analyzing the model, designing an optimal secondary controller according to the requirement of the track to control minimum fuel, and designing a quasi-sliding mode controller with strong robustness according to the requirement of the secondary capture strategy and based on the influence of attitude model modeling inaccuracy, external unknown interference and the like.
Drawings
FIG. 1: schematic diagram of a space tethered robot for capturing a target:
1 is a space platform; 2 is a space rope robot; 3 is a space target; 4 is the earth; 5 is a space tether; and 6 is a platform track.
FIG. 2: system instruction flow diagram
FIG. 3: overall control flow chart
FIG. 4: schematic control strategy.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the technical scheme adopted by the invention comprises the following steps:
1) a space tether robot secondary capture control strategy;
2) establishing a space tether robot track and a posture dynamics model;
3) and (4) designing a controller.
1) Secondary capture control strategy for space tethered robot
The secondary catching is a process of firstly retreating the rope robot to a safe position and then adjusting the pose of the rope robot to carry out approaching catching on the target again under the condition that the first catching is carried out to a catching section and then the state of the target is found to be inconvenient to catch or the first catching fails but the rope robot still has catching capacity.
Due to the existence of the tether, when the track control is carried out in the secondary catching and withdrawing process, the space tether robot can be withdrawn to a safe distance according to a given track by utilizing the tether and a thruster. The tension of the rope can be used for assisting in track control, and fuel consumption of the thruster is reduced.
The key point of the secondary capturing process is to control the space tethered robot to safely return to a safe position. The difficulty of the space tether robot in the safe withdrawing process is as follows: the space tethered robot collides with the target to cause the posture of the space tethered robot to be changed violently, and the space tethered robot is clamped on the target. The two situations are comprehensively considered, the state of the space tethered robot after capture is judged according to the tension of the tether, the posture of the space tethered robot needs to be quickly and stably controlled under the condition that the posture of the space tethered robot is changed violently, the space tethered robot needs to rotate around the x axis for a determined angle and then keep the posture stable for track control under the condition of jamming, and the two situations can be considered to be tracking control on a given expected posture. The overall control flow is shown in fig. 3.
The relation between the control strategy and each part of the system is shown in figure 2, and the secondary capture control strategy is mainly characterized in that under the condition that the space rope robot has secondary capture, the position vector r of a target is obtained by integrating the measurement of each sensortAttitude vector σtTether tension vector FsPosition vector r of space tethered robot bodybAttitude vector σbAnd the information gives a next action instruction of the system, then gives an expected tracking instruction of the controller, and finally the controller calculates the control torque according to the instruction.
The specific content of the control strategy is as shown in fig. 4: wherein,representing the relative position vector between the space tethered robot and the target,representing the relative attitude vector between the space tethered robot and the target, Lr/σ/b/s,Hr/σRespectively representing the lower and upper limits of the corresponding parameter.
2) Establishment of space tether robot track and attitude dynamics model
The coordinate system is defined in figure 1.
By combining the Hill equation and the attitude dynamics equation, the following can be obtained:
wherein x, y and z are the positions of the space rope-tied robot relative to the platform, FSx,Ftx,FSy,Fty,FSz,FtzThe three axial directions of the tether pulling force and the thruster pushing force are respectively generated by the force except the gravity applied to the space tether robot. n is the track angular velocity of the platform track, mc、IbThe mass and the moment of inertia of the space tether robot are respectively. SigmabH is the angular momentum of the space tethered robot for correcting the attitude vector of the space tethered robot body represented by the Rodrigues parameter;
h×an antisymmetric matrix that is a vector cross product operation:
G(σb) Is defined as:Tbis the external force moment applied to the space rope-tied robot body.
Selecting location parameters separatelyAttitude parameter p ═ σb，The following expression can be derived for the state variables:
in the above formulaM(p)＝IbG-1(σb)，
3) Controller design
And for the rail control, the fuel consumption is optimally controlled by adopting an optimal quadratic form.
The optimal control law is taken as
u＝-Kx
Wherein K is such that the performance index J ═ xTQx+uTRu]dt is taken to be the solution at the minimum. The matrix Q, R in J is a Hermite positive definite matrix, xTQx denotes the state deviation in the control process, uTRu represents the energy consumed in the control process. The factor in R may be increased in order to reduce fuel consumption. The control output u at this time is the resultant force F of the tether and the thruster acting on the space tether robot.
When the performance index is solved, K is equal to R-1BTP, wherein P is represented by ATP+PA-PBR-1BTAnd P + Q is solved to 0.
For attitude control, it is required to rotate around the x-axis of the main system at a small angular velocity, and after the target is removed, the attitude control is maintained in a stable state without spinning, and the attitude angle in each axial direction is stabilized around a desired value. In order to overcome the influence of model modeling inaccuracy and system interference, a sliding mode control design controller is utilized:
define a slip form surface of
Where Λ is a symmetric positive definite matrix,is a deviation of attitude, σbcIndicating that the current measurement was obtainedAttitude angle ofbdA desired body attitude angle;in order to be an attitude angular velocity deviation,representing the currently measured attitude angular velocity,is the desired attitude angular velocity.A reference attitude angular velocity obtained by correcting the desired attitude angular velocity according to the position error.
To avoid chatter, the following control law is adopted:
τ＝uc-ksat(s)
wherein upsilon isc，pcIs the measured system state parameter.
Where sat(s) is a saturation function, for each component of siThe following relationships exist:
assuming an accurate model of the system asWhereinFor unmodeled parts and for external unknown disturbances.
Defining an error model as
Wherein
To make the controller progressively stable, each term k in k is requirediAll satisfyWherein constant ηiIs strictly positive.
Claims (2)
1. A secondary capture control strategy for a space instability uncooperative target is characterized by comprising the following steps:
step 1: the space tethered robot starts to approach the target and meets the capture condition set by the systemAnd isEntering step 3; if not, the claw is not satisfiedThe catching condition enters the step 2;
step 2: giving control system a desired position control command r for a rollback procedured1And desired attitude control command σd1The space rope-tied robot retreats to a safe distance under the action of the control system, and the step 1 is carried out;
and step 3: capturing, judging whether capturing is successful or not, if so, capturing is successful, and ending the task; if not, judging the tension F of the tethersWhether or not L is satisfieds≤FsIf yes, indicating that the tether is tensioned, and entering a step 4; if not, indicating that the tether is loose, and entering step 6;
and 4, step 4: the rope-tied robot is stuck in the space of the rope-tied tensioning surface, and a control command r of an expected position under the condition that the control system is stuck is givend2And attitude control command σd2Entering step 5;
and 5: the control system adjusts the position and the posture of the space rope-tied robot and judges whether the space rope-tied robot reaches the expected position rd2And attitude σd2If yes, entering step 2; if not, repeating the step 5;
step 6: judging whether the attitude angular velocity satisfiesIf the angular velocity meets the requirement, the instability of the space rope robot is indicated, and the expected angular velocity under the instability condition of the control system is givenEntering step 7; if not, entering the step 2;
and 7: the control system adjusts the attitude angular velocity of the space tether robot and judges whether the space tether robot reaches the expected angular velocityIf yes, entering step 2; if not, repeating the step 7.
2. A control law for implementing a secondary capture control strategy for a spatially-destabilized uncooperative target according to claim 1, characterized by:
firstly, establishing a space tether robot track and an attitude dynamics model:
wherein x, y and z are the positions of the space rope-tied robot relative to the platform, FSx,Ftx,FSy,Fty,FSz,FtzThe three axial directions of the tether pulling force and the thruster pushing force are respectively generated by the force except the gravity applied to the space tether robot. n is the track angular velocity of the platform track, mc、IbThe mass and the moment of inertia of the space tether robot are respectively. SigmabH is the angular momentum of the space tethered robot for correcting the attitude vector of the space tethered robot body represented by the Rodrigues parameter;
h×an antisymmetric matrix that is a vector cross product operation:
G(σb) Is defined as:Tbthe external force moment applied to the space rope-tied robot body is obtained;
secondly, establishing an optimal quadratic form to optimally control the fuel consumption, wherein the optimal control law is as follows:
u＝-Kx
wherein K is such that the performance index J ═ xTQx+uTRu]dt is taken to be the solution at the minimum. The matrix Q, R in J is a Hermite positive definite matrix, xTQx denotes the state deviation in the control process, uTRu represents the energy consumed in the control process. The factor in R may be increased in order to reduce fuel consumption. The control output u at the moment is the resultant force F of the tether and the thruster acting on the space tether robot;
the sliding mode control law is as follows: τ ═ uc-ksat(s)
Where Λ is a symmetric positive definite matrix,is a deviation of attitude, σbcRepresenting the currently measured attitude angle, σbdA desired body attitude angle;in order to be an attitude angular velocity deviation,representing the currently measured attitude angular velocity,is the desired attitude angular velocity.A reference attitude angular velocity obtained by correcting the desired attitude angular velocity according to the position error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710331953.XA CN107102548B (en) | 2017-05-12 | 2017-05-12 | A kind of the secondary of Spatial Instability noncooperative target arrests control strategy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710331953.XA CN107102548B (en) | 2017-05-12 | 2017-05-12 | A kind of the secondary of Spatial Instability noncooperative target arrests control strategy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107102548A true CN107102548A (en) | 2017-08-29 |
| CN107102548B CN107102548B (en) | 2019-11-22 |
Family
ID=59670248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710331953.XA Active CN107102548B (en) | 2017-05-12 | 2017-05-12 | A kind of the secondary of Spatial Instability noncooperative target arrests control strategy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107102548B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109284768A (en) * | 2018-07-25 | 2019-01-29 | 西北工业大学 | A kind of reconstruct of space capture process uncertainty and prediction technique |
| CN110703602A (en) * | 2019-10-22 | 2020-01-17 | 西北工业大学深圳研究院 | Robust differential game control method for on-orbit assembly attitude stabilization of multiple robots |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009389A (en) * | 2012-11-30 | 2013-04-03 | 北京控制工程研究所 | Track planning method of redundant space mechanical arm for on-track catching |
| CN103123488A (en) * | 2013-01-18 | 2013-05-29 | 西北工业大学 | Coordination control method for tethered system robot system to approach target |
| CN103135552A (en) * | 2013-01-18 | 2013-06-05 | 西北工业大学 | Coordination control method of spatial rope-tying robot compounded body postures after target catching |
| CN103438888A (en) * | 2013-07-24 | 2013-12-11 | 西北工业大学 | Relative navigation method for autonomous rendezvous of space non-operative target |
| CN104142687A (en) * | 2014-07-17 | 2014-11-12 | 西北工业大学 | Method for stably controlling posture of complex after target is caught by space tethered system mechanical arm |
-
2017
- 2017-05-12 CN CN201710331953.XA patent/CN107102548B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009389A (en) * | 2012-11-30 | 2013-04-03 | 北京控制工程研究所 | Track planning method of redundant space mechanical arm for on-track catching |
| CN103123488A (en) * | 2013-01-18 | 2013-05-29 | 西北工业大学 | Coordination control method for tethered system robot system to approach target |
| CN103135552A (en) * | 2013-01-18 | 2013-06-05 | 西北工业大学 | Coordination control method of spatial rope-tying robot compounded body postures after target catching |
| CN103438888A (en) * | 2013-07-24 | 2013-12-11 | 西北工业大学 | Relative navigation method for autonomous rendezvous of space non-operative target |
| CN104142687A (en) * | 2014-07-17 | 2014-11-12 | 西北工业大学 | Method for stably controlling posture of complex after target is caught by space tethered system mechanical arm |
Non-Patent Citations (4)
| Title |
|---|
| ANGEL FLORES-ABAD，等: "A review of space robotics technologies for on-orbit servicing", 《PROGRESS IN AEROSPACE SCIENCES 68》 * |
| LU CHEN，等: "A non-cooperative target grasping position prediction model for tethered space robot", 《AEROSPACE SCIENCE AND TECHNOLOGY 58》 * |
| 张帆，等: "空间绳系机器人抓捕非合作目标的质量特性参数辨识", 《宇航学报》 * |
| 王明，等: "空间机器人抓捕目标后姿态接管控制", 《航空学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109284768A (en) * | 2018-07-25 | 2019-01-29 | 西北工业大学 | A kind of reconstruct of space capture process uncertainty and prediction technique |
| CN110703602A (en) * | 2019-10-22 | 2020-01-17 | 西北工业大学深圳研究院 | Robust differential game control method for on-orbit assembly attitude stabilization of multiple robots |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107102548B (en) | 2019-11-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Bisgaard et al. | Modeling of generic slung load system | |
| CN109144084B (en) | A kind of VTOL Reusable Launch Vehicles Attitude tracking control method based on set time Convergence monitoring device | |
| de Angelis et al. | Two-time-scale control of a multirotor aircraft for suspended load transportation | |
| CN104155990B (en) | Consider the hypersonic aircraft pitch channel attitude control method of angle of attack constraint | |
| CN107942651B (en) | Near space vehicle control system | |
| US9446837B2 (en) | Method and apparatus for minimizing dynamic structural loads of an aircraft | |
| CN109460050B (en) | Composite layered anti-interference control method for variant unmanned aerial vehicle | |
| CN111319802B (en) | Self-adaptive curvature matching guidance method for small celestial body attachment track | |
| CN103728988B (en) | SCARA robot trajectory tracking control method based on internal model | |
| CN107491083B (en) | Four-rotor-wing autonomous landing method based on saturation self-adaptive sliding mode control | |
| CN106371312A (en) | Lifting reentry prediction-correction guidance method based on fuzzy controller | |
| CN107102548B (en) | A kind of the secondary of Spatial Instability noncooperative target arrests control strategy | |
| Mystkowski | 721. An application of mu-synthesis for control of a small air vehicle and simulation results | |
| Lee et al. | Linear parameter-varying control of variable span-sweep morphing aircraft | |
| Liang et al. | Active disturbance rejection attitude control for a bird-like flapping wing micro air vehicle during automatic landing | |
| Timchenko et al. | Optimization of processes of robust control of quadcopter for monitoring of sea waters | |
| Ansari et al. | Quadrotor motion control using adaptive generalized dynamic inversion | |
| Zhou et al. | System identification and control for a tail-sitter unmanned aerial vehicle in the cruise flight | |
| CN110647161B (en) | Under-actuated UUV horizontal plane trajectory tracking control method based on state prediction compensation | |
| Smith et al. | Disturbance observer based control for gust alleviation of a small fixed-wing UAS | |
| CN114104339B (en) | Mars lander parachute evading method based on parachute landing point off-line analysis | |
| CN113418674B (en) | Wind tunnel track capture test method with three-degree-of-freedom motion of primary model | |
| Bagheri | Modeling, simulation and control system design for civil unmanned aerial vehicle (uav) | |
| Cunis et al. | Model-Predictive Spiral and Spin Upset Recovery Control for the Generic Transport Model Simulation⋆ | |
| CN110687789B (en) | Anti-saturation control system based on integer function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |