CN108415443B - Control method for forced flight-around of non-cooperative target - Google Patents

Control method for forced flight-around of non-cooperative target Download PDF

Info

Publication number
CN108415443B
CN108415443B CN201810076319.0A CN201810076319A CN108415443B CN 108415443 B CN108415443 B CN 108415443B CN 201810076319 A CN201810076319 A CN 201810076319A CN 108415443 B CN108415443 B CN 108415443B
Authority
CN
China
Prior art keywords
fly
around
spacecraft
equation
forced
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.)
Active
Application number
CN201810076319.0A
Other languages
Chinese (zh)
Other versions
CN108415443A (en
Inventor
黄攀峰
刘习尧
孟中杰
张夷斋
张帆
刘正雄
董刚奇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northwestern Polytechnical University
Original Assignee
Northwestern Polytechnical University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Northwestern Polytechnical University filed Critical Northwestern Polytechnical University
Priority to CN201810076319.0A priority Critical patent/CN108415443B/en
Publication of CN108415443A publication Critical patent/CN108415443A/en
Application granted granted Critical
Publication of CN108415443B publication Critical patent/CN108415443B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems

Abstract

The invention relates to a method for controlling forced flight around a non-cooperative target, which comprises the following steps: establishing a dynamic equation of the forced fly-around process; calculating a deviation kinetic equation of the expected pose of the forced fly-around process; obtaining unknown state variables by using a first order instruction filter; estimating system model uncertainty for fly-around processes
Figure DDA0001559678820000011
And calculates the adaptive input u of the systema(ii) a Optimal control input u for computing systemopAnd a system total input u. The invention adopts an optimal control method, and can minimize the fuel consumption of the system under the condition of keeping the error to meet the requirement. The unknown state variable value is obtained through first-order instruction filtering, so that the influence of measurement noise on the state variable can be effectively reduced. The uncertainty of the model of the fly-around process is estimated, and the influence caused by the uncertainty can be effectively compensated, so that the overshoot in the control process is smaller, the convergence time is shorter, and the control precision is higher.

Description

Control method for forced flight-around of non-cooperative target
Technical Field
The invention belongs to the technical field of spacecraft control research, and relates to a method for controlling a non-cooperative target to forcibly fly around.
Background
The space fly-around task is divided into natural fly-around, pulse fly-around and forced fly-around. The natural fly-around is that the fly-around is carried out by only depending on relative initial conditions between the target spacecraft and the accompanying spacecraft without applying control force to the accompanying spacecraft, and has the advantages of extremely low fuel consumption, long fly-around period (equal to orbit period), fixed fly-around track and high requirement on initial value. The pulse fly-around is that when the relative position reaches a specific point, a control force with a specific duration is applied to the flying-around spacecraft, and the pulse fly-around has the advantages that the fly-around track and the fly-around period can be adjusted in real time according to requirements, and the pulse fly-around has the disadvantages of insufficient accuracy of the fly-around track and high requirement on the measurement result of the relative speed. The forced flying is to control the flying-accompanying spacecraft in real time in the whole flying-around process and continuously adjust the position and the posture of the flying-accompanying spacecraft to reach a desired value. The method is suitable for the winding and flying task with short period and high precision, and has the advantages of high precision, real-time regulation of winding and flying track and period, and no suitability for long-term winding and flying task.
Due to the problems of unknown external interference, strong nonlinearity, measurement noise and the like, the use of the conventional controller can cause the fly-around task to fail to meet the requirements of low fuel consumption and high precision, and even cause the divergence of relative position or attitude, resulting in the failure of the fly-around task. Therefore, a proper forced flight control method is designed, the low-fuel-consumption and high-precision control of the companion spacecraft in the forced flight process of the target spacecraft is guaranteed, and the design is very meaningful.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a control method for forcing the non-cooperative target to fly around, the control method can realize that the relative position of the accompanying spacecraft relative to the target spacecraft is kept to be an expected track in the flying around process, and the attitude of the accompanying spacecraft meets the requirement of an expected attitude.
Technical scheme
A method for controlling forced flight around a non-cooperative strong target is characterized by comprising the following steps:
step 1, establishing a kinetic equation of a non-cooperative forced flight-around process:
attitude kinematics equation:
Figure GDA0002634060730000021
where σ is the modified rodriger parameter, I is the moment of inertia matrix, E3Denotes a 3 × 3 identity matrix, McFor controlling the moment, MdVarious environmental disturbance moments;
Figure GDA0002634060730000022
theta and psi respectively represent three Euler angles corresponding to the three axes of x, y and z; omegabThe angular velocity of a coordinate system of the main body of the aeronautical spacecraft relative to an inertial system is obtained; h (sigma, omega)b) Is a parameter matrix in the system operation process; g (σ) represents a state matrix of the attitude kinematics;
Figure GDA0002634060730000023
S(ωb) Represents the vector ωbOf the form of a cross-multiplication matrix of components
Figure GDA0002634060730000024
Figure GDA0002634060730000025
And establishing a relative position motion model:
Figure GDA0002634060730000026
wherein (a)bRepresenting the projection of the vector a under the coordinate system of the satellite spacecraft body; rho is a position vector from the mass center of the accompanying spacecraft to the mass center of the target spacecraft;
Figure GDA0002634060730000027
rsis the position vector from the geocentric to the mass center of the satellite-borne spacecraft; r istIs a position vector from the geocentric to the centroid of the companion spacecraft and the target spacecraft; a iss,atAcceleration vectors of the satellite-borne spacecraft and the target spacecraft are respectively; mu is a constant of the gravity of the earth,
Figure GDA0002634060730000028
is an acceleration term caused by the difference in gravity of two spacecrafts, apAcceleration due to spatial disturbance forces;
step 2, deriving a deviation kinetic equation of the expected pose of the non-cooperative forced fly-around process:
get
Figure GDA0002634060730000031
The equation of state for the fly-around process is then in the form:
Figure GDA0002634060730000032
wherein the content of the first and second substances,
Figure GDA0002634060730000033
Figure GDA0002634060730000034
Figure GDA0002634060730000035
are unknown items in the model.
Let the desired state variable be xdThe error of the fly-around process is e ═ x-xdThen the error kinetics equation is:
Figure GDA0002634060730000036
wherein:
Figure GDA0002634060730000037
and 3, acquiring unknown state variables by adopting a first-order instruction filter: state variable in dynamic equation of fly-around process
Figure GDA0002634060730000038
It is not possible to measure directly the amount of,
Figure GDA0002634060730000039
wherein: m is more than 0 and is a design parameter;
step 4, estimating uncertainty of the system model in the fly-around process
Figure GDA00026340607300000310
And calculates the adaptive input u of the systema：
Figure GDA00026340607300000311
ζLThe adaptive law of (1) is as follows:
Figure GDA00026340607300000312
wherein a belongs to [0,1) and is a small positive number; zetaLAn upper bound representing system uncertainty;
and 5: optimal control input u of the systemopAnd the total system input u ═ ua+uop
Figure GDA00026340607300000313
Figure GDA0002634060730000041
The equation was obtained from the Hamilton-Jacobi-Bellman partial differential equation as follows:
Figure GDA0002634060730000042
wherein the content of the first and second substances,
Figure GDA0002634060730000043
for optimalityEnergy index, and J*＞0，J*(0)＝0。
Advantageous effects
The invention provides a method for controlling forced flight around of a non-cooperative target, which comprises the following steps: establishing a dynamic equation of the forced fly-around process; calculating a deviation kinetic equation of the expected pose of the forced fly-around process; obtaining unknown state variables by using a first order instruction filter; estimating system model uncertainty for fly-around processes
Figure GDA0002634060730000044
And calculates the adaptive input u of the systema(ii) a Optimal control input u for computing systemopAnd a system total input u.
Compared with the prior art, the invention has the following beneficial effects:
the invention adopts an optimal control method, and can minimize the fuel consumption of the system under the condition of keeping the error to meet the requirement. The unknown state variable value is obtained through first-order instruction filtering, so that the influence of measurement noise on the state variable can be effectively reduced. The uncertainty of the model of the fly-around process is estimated, and the influence caused by the uncertainty can be effectively compensated, so that the overshoot in the control process is smaller, the convergence time is shorter, and the control precision is higher.
Drawings
FIG. 1 is a schematic diagram of the main coordinate system definition of the present invention
Wherein 1 is the earth; 2 is a flying spacecraft; and 3 is the target spacecraft.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the first step is as follows: establishing a non-cooperative forced fly-around dynamics model
Firstly, establishing an attitude kinematics equation process as follows:
Figure GDA0002634060730000045
wherein σ is modified rodgerge ginsengNumber, I is the moment of inertia matrix, E3Denotes a 3 × 3 identity matrix, McFor controlling the moment, MdVarious environmental disturbance moments;
Figure GDA0002634060730000051
theta and psi respectively represent three Euler angles corresponding to the three axes of x, y and z; omegabThe angular velocity of a coordinate system of the main body of the aeronautical spacecraft relative to an inertial system is obtained; h (sigma, omega)b) Is a parameter matrix in the system operation process; g (σ) represents a state matrix of the attitude kinematics;
Figure GDA0002634060730000052
S(ωb) Represents the vector ωbOf the form of a cross-multiplication matrix of components
Figure GDA0002634060730000053
Figure GDA0002634060730000054
Then establishing a relative position motion model:
Figure GDA0002634060730000055
wherein (a)bRepresenting the projection of the vector a under the coordinate system of the satellite spacecraft body; rho is a position vector from the mass center of the accompanying spacecraft to the mass center of the target spacecraft;
Figure GDA0002634060730000056
rsis the position vector from the geocentric to the mass center of the satellite-borne spacecraft; r istIs a position vector from the geocentric to the centroid of the companion spacecraft and the target spacecraft; a iss,atAcceleration vectors of the satellite-borne spacecraft and the target spacecraft are respectively; mu is a constant of the gravity of the earth,
Figure GDA0002634060730000057
is an acceleration term caused by the gravity difference of two spacecrafts，apAcceleration due to a spatial disturbance force.
The second step is that: deriving a deviation kinetic equation of the expected pose of the non-cooperative forced fly-around process;
get
Figure GDA0002634060730000058
The equation of state for the fly-around process is then in the form:
Figure GDA0002634060730000059
wherein the content of the first and second substances,
Figure GDA0002634060730000061
Figure GDA0002634060730000062
Figure GDA0002634060730000063
are unknown items in the model.
Let the desired state variable be xdThe error of the fly-around process is e ═ x-xdThen the error kinetics equation is:
Figure GDA0002634060730000064
wherein
Figure GDA0002634060730000065
The third step: obtaining unknown state variables by using a first order instruction filter;
considering that the measurable quantity of the flight accompanying spacecraft in the space environment is the relative position rho and the attitude angular velocity omegabAttitude angle (i.e., modified rodreg parameter σ), and state variables in the fly-around process dynamics equation
Figure GDA0002634060730000066
It is not possible to measure directly and, due to the noise present in the measurement, if the relative position p is differentiated directly to obtain the state variable
Figure GDA0002634060730000067
A large deviation occurs, so the following first order filter is designed:
Figure GDA0002634060730000068
wherein m is greater than 0.
The fourth step: estimating fly-around process system model uncertainty
Figure GDA0002634060730000069
And calculates the adaptive input u of the systema；
The value of the parameter η is not determined in the design of the controller, now using an estimated value
Figure GDA00026340607300000610
Instead of η, a design model of the fly-around process can thus be obtained:
Figure GDA00026340607300000611
order to
Figure GDA00026340607300000612
The actual model of the fly-around process:
Figure GDA0002634060730000071
noting the estimated deviation of the unknown parameter as
Figure GDA0002634060730000072
Then, it can be obtained from formula (2):
Figure GDA0002634060730000073
wherein
Figure GDA0002634060730000074
Representing the estimated deviation of the variable (·).
Since the external interference is bounded, so
Figure GDA0002634060730000075
Existence of a supremum limit ζLAnd is and
Figure GDA0002634060730000076
to obtain zetaLThe following robust adaptation law is designed:
Figure GDA0002634060730000077
where a ∈ [0,1 ]), is a positive number. ZetaLAn upper bound representing system uncertainty;
adding this adaptation to the controller, then
Figure GDA0002634060730000078
The fifth step: optimal control input u for computing systemopAnd a system total input u;
after all state variables of the fly-by dynamic equation are obtained and the interference upper bound of the system is estimated by using a robust adaptive algorithm, a model (4) with completely known information of the system can be obtained. To keep the system fuel consumption and error vector optimal, the optimal controller is designed as follows.
Let the optimal control input of the system be u*Selecting a quadratic performance index function as follows:
Figure GDA0002634060730000079
wherein Q and R are symmetric positive definite matrixes.
The optimal control law is:
Figure GDA00026340607300000710
Figure GDA00026340607300000711
this can be obtained from the Hamilton-Jacobi-Bellman (HJB) partial differential equation:
Figure GDA0002634060730000081
wherein the content of the first and second substances,
Figure GDA0002634060730000082
is an optimum performance index, and J*＞0，J*(0)＝0.
The overall control inputs to the system are:
Figure GDA0002634060730000083

Claims (1)

1. a control method for non-cooperative forced fly-around is characterized by comprising the following steps:
step 1, establishing a kinetic equation of a non-cooperative forced flight-around process:
attitude kinematics equation:
Figure FDA0002634060720000011
where σ is the modified rodriger parameter, I is the moment of inertia matrix, E3Denotes a 3 × 3 identity matrix, McFor controlling the moment, MdVarious environmental disturbance moments;
Figure FDA0002634060720000012
theta and psi respectively represent three Euler angles corresponding to the three axes of x, y and z; omegabThe angular velocity of a coordinate system of the main body of the aeronautical spacecraft relative to an inertial system is obtained; h (sigma, omega)b) Is a parameter matrix in the system operation process; g (σ) represents a state matrix of the attitude kinematics;
Figure FDA0002634060720000013
S(ωb) Represents the vector ωbOf the form of a cross-multiplication matrix of components
Figure FDA0002634060720000014
Figure FDA0002634060720000015
And establishing a relative position motion model:
Figure FDA0002634060720000016
wherein (a)bRepresenting the projection of the vector a under the coordinate system of the satellite spacecraft body; rho is a position vector from the mass center of the accompanying spacecraft to the mass center of the target spacecraft;
Figure FDA0002634060720000017
rsis the position vector from the geocentric to the mass center of the satellite-borne spacecraft; r istIs a position vector from the geocentric to the centroid of the companion spacecraft and the target spacecraft; a iss,atAcceleration vectors of the satellite-borne spacecraft and the target spacecraft are respectively; mu is a constant of the gravity of the earth,
Figure FDA0002634060720000018
is an acceleration term caused by the difference in gravity of two spacecrafts, apAcceleration due to spatial disturbance forces;
step 2, deriving a deviation kinetic equation of the expected pose of the non-cooperative forced fly-around process:
get
Figure FDA0002634060720000021
The equation of state for the fly-around process is then in the form:
Figure FDA0002634060720000022
wherein the content of the first and second substances,
Figure FDA0002634060720000023
Figure FDA0002634060720000024
Figure FDA0002634060720000025
is an unknown item in the model;
let the desired state variable be xdThe error of the fly-around process is e ═ x-xdThen the error kinetics equation is:
Figure FDA0002634060720000026
wherein:
Figure FDA0002634060720000027
and 3, acquiring unknown state variables by adopting a first-order instruction filter: state variable in dynamic equation of fly-around process
Figure FDA0002634060720000028
It is not possible to measure directly the amount of,
Figure FDA0002634060720000029
wherein: m is more than 0 and is a design parameter;
step 4, estimating uncertainty of the system model in the fly-around process
Figure FDA00026340607200000210
And calculates the adaptive input u of the systema：
Figure FDA00026340607200000211
ζLThe adaptive law of (1) is as follows:
Figure FDA00026340607200000212
where a is [0,1 ]), a positive decimal number, ζLAn upper bound representing system uncertainty;
and 5: optimal control input u of the systemopAnd the total system input u ═ ua+uop
Figure FDA00026340607200000213
Figure FDA0002634060720000031
The equation was obtained from the Hamilton-Jacobi-Bellman partial differential equation as follows:
Figure FDA0002634060720000032
wherein the content of the first and second substances,
Figure FDA0002634060720000033
is an optimum performance index, and J*＞0，J*(0) 0; and R is a symmetrical positive definite matrix.
CN201810076319.0A 2018-01-26 2018-01-26 Control method for forced flight-around of non-cooperative target Active CN108415443B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810076319.0A CN108415443B (en) 2018-01-26 2018-01-26 Control method for forced flight-around of non-cooperative target

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810076319.0A CN108415443B (en) 2018-01-26 2018-01-26 Control method for forced flight-around of non-cooperative target

Publications (2)

Publication Number Publication Date
CN108415443A CN108415443A (en) 2018-08-17
CN108415443B true CN108415443B (en) 2020-11-06

Family

ID=63126214

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810076319.0A Active CN108415443B (en) 2018-01-26 2018-01-26 Control method for forced flight-around of non-cooperative target

Country Status (1)

Country Link
CN (1) CN108415443B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110850719B (en) * 2019-11-26 2021-03-30 北京航空航天大学 Spatial non-cooperative target parameter self-tuning tracking method based on reinforcement learning

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4726224A (en) * 1986-02-24 1988-02-23 Ausilio Robert F D System for testing space weapons
CN103019251A (en) * 2012-12-11 2013-04-03 北京控制工程研究所 Forced diversion control method
CN104249816A (en) * 2013-06-27 2014-12-31 上海新跃仪表厂 Non-cooperative target flying-around hovering pose rail cooperative control method
CN104729510A (en) * 2014-12-25 2015-06-24 北京理工大学 Method for determining relative adjoint orbit of space target
CN105353763A (en) * 2015-12-01 2016-02-24 哈尔滨工业大学 Relative orbit attitude finite time control method for non-cooperative target spacecraft
CN105512374A (en) * 2015-11-30 2016-04-20 上海宇航系统工程研究所 Same orbit plane satellite observation orbit design method under nature accompanying condition
CN107065929A (en) * 2017-05-05 2017-08-18 成都通甲优博科技有限责任公司 A kind of unmanned plane is around flying method and system
CN107270933A (en) * 2017-05-16 2017-10-20 北京控制工程研究所 A kind of space junk motion state joint determination method same based on many stellar associations

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9187189B2 (en) * 2012-10-12 2015-11-17 The Aerospace Corporation System, apparatus, and method for active debris removal
US10571224B2 (en) * 2015-05-04 2020-02-25 Propagation Research Associates, Inc. Systems, methods and computer-readable media for improving platform guidance or navigation using uniquely coded signals

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4726224A (en) * 1986-02-24 1988-02-23 Ausilio Robert F D System for testing space weapons
CN103019251A (en) * 2012-12-11 2013-04-03 北京控制工程研究所 Forced diversion control method
CN104249816A (en) * 2013-06-27 2014-12-31 上海新跃仪表厂 Non-cooperative target flying-around hovering pose rail cooperative control method
CN104729510A (en) * 2014-12-25 2015-06-24 北京理工大学 Method for determining relative adjoint orbit of space target
CN105512374A (en) * 2015-11-30 2016-04-20 上海宇航系统工程研究所 Same orbit plane satellite observation orbit design method under nature accompanying condition
CN105353763A (en) * 2015-12-01 2016-02-24 哈尔滨工业大学 Relative orbit attitude finite time control method for non-cooperative target spacecraft
CN107065929A (en) * 2017-05-05 2017-08-18 成都通甲优博科技有限责任公司 A kind of unmanned plane is around flying method and system
CN107270933A (en) * 2017-05-16 2017-10-20 北京控制工程研究所 A kind of space junk motion state joint determination method same based on many stellar associations

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
SPACECRAFT ATTITUDE-CONTROL AND STABILIZATION - APPLICATIONS OF GEOMETRIC CONTROL-THEORY TO RIGID BODY MODELS;PETER E. CROUCH;《IEEE TRANSACTIONS ON AUTOMATIC CONTROL》;19840430;第29卷(第4期);第321-331页 *
基于直线特征的空间目标三维结构重建和位姿测量方法研究;傅丹;《中国博士学位论文全文数据库（电子期刊）》;20090715(第7期);I138-55 *

Also Published As

Publication number Publication date
CN108415443A (en) 2018-08-17

Similar Documents

Publication Publication Date Title
CN108710303B (en) Spacecraft relative attitude control method containing multi-source disturbance and actuator saturation
Liu et al. Tracking control of small-scale helicopters using explicit nonlinear MPC augmented with disturbance observers
Ritz et al. Carrying a flexible payload with multiple flying vehicles
CN110347170B (en) Reusable carrier reentry segment robust fault-tolerant guidance control system and working method
Lai et al. Adaptive position/attitude tracking control of aerial robot with unknown inertial matrix based on a new robust neural identifier
Dhadekar et al. Robust control of quadrotor using uncertainty and disturbance estimation
CN111026160B (en) Trajectory tracking control method for quad-rotor unmanned aerial vehicle
CN105785762A (en) Bi-axis inertially-stabilized platform high-precision control method based on self-adaptive backstepping sliding mode
CN108181806B (en) Space robot position and attitude active disturbance rejection control method based on sampling output
Santos et al. Simulation and comparison between a linear and nonlinear technique applied to altitude control in quadcopters
Lee et al. Design, implementation, and flight tests of a feedback linearization controller for multirotor UAVs
Soorki et al. A new fast finite time fractional order adaptive sliding-mode control for a quadrotor
CN108415443B (en) Control method for forced flight-around of non-cooperative target
Xu et al. Multivariable adaptive distributed leader-follower flight control for multiple UAVs formation
Astudillo et al. Optimal and robust controllers design for a smartphone-based quadrotor
Yongmei et al. Trajectory tracking of a high altitude unmanned airship based on adaptive feedback linearization
CN116088311A (en) Unmanned helicopter second-order uncertain sliding mode control method based on adaptive neural network extended state observer
CN112506209B (en) Reentry vehicle prediction control method based on self-adaptive prediction period
CN111413995B (en) Method and system for tracking relative position and synchronously controlling posture between double rigid body characteristic points
Mehndiratta et al. A simple learning strategy for feedback linearization control of aerial package delivery robot
CN113515142B (en) Unmanned aerial vehicle track tracking control method and device, unmanned aerial vehicle and storage medium
Sattigeri et al. 6-DOF nonlinear simulation of vision-based formation flight
Kikkawa et al. Nonlinear flight control with an extended state observer for a fixed-wing UAV
Xie et al. Dynamic visual servoing of a rotary-wing unmanned aerial vehicle without velocity measurement
De Paiva et al. Sliding mode control for the path following of an unmanned airship

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