CN109765921A - A kind of Spacecraft formation cooperative control method for guaranteeing communication and avoiding collision - Google Patents
A kind of Spacecraft formation cooperative control method for guaranteeing communication and avoiding collision Download PDFInfo
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Abstract
The invention discloses a kind of Spacecraft formation cooperative control methods for guaranteeing communication and avoiding collision, comprising the following steps: considers that there are in the case of external disturbance, establish Spacecraft Formation Flying system relative position kinetic model；It is discussed based on digraph, Spacecraft Formation Flying system communication situation is described；Defining scalar potential function limits guarantee spacecraft efficient communication and the safe and reliable region avoided collision；Self-adapting synergizing controller is designed, the final speed of Spacecraft formation is made to reach unanimity.This method can guarantee that formation spacecrafts guarantee that formation spacecrafts carry out efficient communication and avoid collision while realizing that bulk velocity is consistent, and have many advantages, such as strong antijamming capability, strong robustness, be suitable for Spacecraft Formation Flying relative position Collaborative Control.
Description
Technical field
The invention belongs to technical field of spacecraft control, a kind of particularly spacecraft for guaranteeing communication and avoiding collision
Formation cooperative control method, limited, the safe distance limitation that is mainly used in that there are communication distances, model uncertainty and outside are dry
Disturb the Spacecraft Formation Flying system of effect.
Background technique
Spacecraft Formation Flying is since relative cost is low, system robustness is strong, operational reliability is high and task response speed
The advantages that fast, plays increasingly important role in modern space industry.When executing space tasks, Spacecraft Formation Flying
In system between each formation spacecrafts can using wireless communication, to obtain the status information of adjacent spacecraft, in conjunction with itself
Status information constructs controller, realizes the Collaborative Control of entire Spacecraft Formation Flying system.
But when each formation spacecrafts distance relatively far away from when, the case where communication is often interrupted.Meanwhile working as formation
When spacecraft range ability is closer, there can be risk impinging one another.Accordingly, it is considered to guarantee formation spacecrafts efficient communication and
It avoids collision under equal restraint conditions, realizes that Collaborative Control is particularly important.In addition, as Spacecraft formation task carries out, due to boat
There is uncertainty and since spatial complex running environment introduce system in system model caused by its device fuel itself constantly consumes
Interference, all can to Spacecraft Formation Flying system operate normally have some impact on, this requires Spacecraft Formation Flying systems
System has the characteristics that strong robustness, strong antijamming capability.Thus it is guaranteed that Spacecraft Formation Flying system can be uncertain in model
Property and external disturbance operative condition under, in safe and reliable region realize final speed be consistent, be Spacecraft Formation Flying
The vital task of relative position Collaborative Control.
Summary of the invention
Technology of the invention solves the problems, such as: for Spacecraft Formation Flying system, there are communication distances to be limited, safe distance
The problems such as limitation, model uncertainty and external disturbance, proposes that a kind of guarantee communicates and avoids the relative position to collide certainly
Cooperative control method is adapted to, it is a kind of strong robustness, strong antijamming capability and Spacecraft Formation Flying system can be made to run
Control method in safe and reliable region, solves Spacecraft Formation Flying system in Collaborative Control process, communication distance by
Limit, safe distance are limited and are asked there are model uncertainty and by the relative position Collaborative Control in the case of external disturbance
Topic, makes Spacecraft Formation Flying system high efficiency be reliably completed formation task.
According to an aspect of the present invention, a kind of Spacecraft formation Collaborative Control side for guaranteeing communication and avoiding collision is provided
Method, comprising the following steps:
(1) consider that there are in the case of external disturbance, establish Spacecraft Formation Flying system relative position kinetic model；
(2) it is discussed based on digraph, Spacecraft Formation Flying system communication situation is described；
(3) defining scalar potential function limits guarantee spacecraft efficient communication and the safe and reliable region avoided collision
System；
(4) Spacecraft Formation Flying system relative position kinetic model, step (2) Air China based on step (1) foundation
Scalar potential function defined in its device formation flight system communication situation and step (3) designs self-adapting synergizing controller, makes
The final speed of Spacecraft formation reaches unanimity.
Further, step (1) specifically:
Consider that there are in the case of external disturbance, it is assumed that Spacecraft Formation Flying system includes n spacecraft；It is original with the earth's core
Point establishes geocentric inertial coordinate system (O-XYZ)；Setting virtual spacecraft, it is assumed that it is θ that virtual spacecraft, which operates in true anomaly,
Semi-major axis is ac, eccentricity ecElliptic orbit；Using virtual spacecraft as spacecraft is referred to, LVLH coordinate system (o- is established
xyz)；With reference to spacecraft relative to geocentric position be Rc=[Rc, 0,0]T, subscript T representing matrix transposition, wherein RcIndicate virtual
Spacecraft and the earth's core in the direction of the x axis at a distance from, pass throughIt is calculated；With LVLH
Coordinate system is reference frame, establishes Spacecraft Formation Flying system relative position kinetic model are as follows:
Wherein, ρi=[ρix,ρiy,ρiz]TIndicate position of i-th of spacecraft relative to reference spacecraft, wherein ρix,
ρiy, ρizRespectively i-th of spacecraft relative to reference spacecraft in x-axis, y-axis, the distance in z-axis；vi=[vix,viy,viz]T
Indicate speed of i-th of spacecraft relative to reference spacecraft, wherein vix, viy, vizRespectively i-th of spacecraft is relative to ginseng
Spacecraft is examined in x-axis, y-axis, the speed in z-axis；miIndicate the quality of i-th of spacecraft；diIndicate what i-th of spacecraft was subject to
External disturbance power；uiIndicate the control signal of i-th of spacecraft；Indicate i-th of boat
The coriolis force and centrifugal force matrix of its device, whereinIt is as follows for the first derivative with reference to spacecraft true anomaly θ
Wherein,Reflection refers to the mean motion of spacecraft；μ indicates geocentric gravitational constant；
Indicate the time-variant nonlinear item of i-th of spacecraft, as follows:
Wherein,For the second order with reference to spacecraft true anomaly θ
Derivative；Indicate distance of i-th of spacecraft relative to the earth's core.
Further, the signal intelligence of Spacecraft Formation Flying system is described in step (2) specifically: assuming that compiling
It is carried out wireless communication between all spacecrafts in team's flight system；Signal intelligence is described as the oriented strong connection figure G=of Weight
{ V, E, A }, wherein V={ v1... vi..., vj..., vnIndicate the node set being made of n formation spacecrafts,
In, v1... vi..., vj..., vn1 is respectively indicated to n spacecraft node；It indicates between formation spacecrafts
Communication path；A=[aij]∈Rn×nIndicate the adjacency matrix between i-th of spacecraft and j-th of spacecraft；If (vi,vj)
∈ E is indicated to establish between spacecraft j and spacecraft i and be communicated, and spacecraft j can obtain the information of spacecraft i, then adjacency matrix
Middle element aij> 0, wherein viAnd vjRespectively indicate i-th of spacecraft node and j-th of spacecraft node；If
Indicate that spacecraft j cannot obtain the information of spacecraft i, then element a in adjacency matrixij=0；Meanwhile considering spacecraft itself not
It carries out wireless communication, element a in adjacency matrixij=0；Oriented strong connection figureLaplacian Matrix be L=[lij]∈Rn×n,
Wherein lij=∑j≠iaij(i=j), lij=-aij(i≠j)。
Further, in step (3), consider that communication distance is limited and safe distance limits, define spacecraft i and spacecraft
Scalar potential function between j are as follows:
Wherein, ρaIndicate the maximum allowable range for ensuring efficient communication between spacecraft；ρcIt indicates to avoid touching between spacecraft
The minimum allowable range hit；ρdIndicate the warning distance avoided collision between spacecraft.Mark between spacecraft i and spacecraft j
Measure potential function VijAbout ρiGradient are as follows:
Wherein,
ρiAnd ρjRespectively indicate i-th of spacecraft and j-th of boat
Position of its device relative to reference spacecraft.
Scalar potential function based on above-mentioned definition, when i-th of spacecraft and j-th of spacecraft close to each other, if two
When the distance between spacecraft approaches the minimum allowable range avoided collision, the scalar potential function value between two spacecrafts will
It becomes very large.When spacecraft i and spacecraft j away from each other, if distance between the two is close to the maximum for carrying out efficient communication
Allow distance, the potential energy between two spacecrafts can be very big, and correspondingly scalar potential function will become very large.In this way with compared with
High potential function value limits spacecraft prohibited flight area, guarantees that spacecraft can operate in communication effectively and avoid touching
In the safe and reliable region hit.
Further, based on establish in step (1) there are Spacecraft Formation Flying system in the case of external disturbance is opposite
Position kinetic model, scalar defined in the signal intelligence description of Spacecraft Formation Flying system and step (3) in step (2)
Potential function considers the influence of model uncertainty and external interference, designs self-adapting synergizing controller are as follows:
Adaptive law are as follows:
Wherein,αi> 0 is control gain；ε > 0 is to use
In compensation interference normal number, meet ε >=| | di||∞；ηiThe adjustable constant that > 0, β > 0 is positive；For i-th of spacecraft
The estimated value of quality；viAnd vjRespectively indicate the speed of i-th of spacecraft and j-th of spacecraft relative to reference spacecraft；Vij
Indicate the scalar potential function between spacecraft i and spacecraft j.
The present invention compared with prior art the advantages of:
(1) the Spacecraft formation cooperative control method a kind of guarantee of the invention communication and avoided collision, for spacecraft
The constraints such as there are communication distances to be limited for formation flight system, safe distance limitation, are based on scalar potential function, design collaboration control
Device guarantees that Spacecraft Formation Flying system is run in safe and reliable region；
(2) the present invention is directed Spacecraft Formation Flying system executes task phase in complex space environment, exist
In the case of model uncertainty and external interference, it is based on adaptive technique, design collaboration controller carries out anti-interference process, mentions
The robustness of high system, to complete with guaranteeing space tasks high efficient and reliable.
Detailed description of the invention
Fig. 1 is the flow diagram of the Spacecraft formation cooperative control method for guaranteeing communication and avoiding collision of the invention；
Fig. 2 is Spacecraft Formation Flying system schematic；
Fig. 3 is Spacecraft Formation Flying system operation area schematic diagram；
Fig. 4 is Spacecraft Formation Flying system communication situation schematic diagram, is flown with the Spacecraft formation that three spacecrafts are constituted
For row system.
Specific embodiment
The following detailed description of specific implementation of the invention, it is necessary to it is indicated herein to be, implement to be only intended to this hair below
Bright further explanation, should not be understood as limiting the scope of the invention, and field person skilled in the art is according to above-mentioned
Some nonessential modifications and adaptations that summary of the invention makes the present invention, still fall within protection scope of the present invention.
The Spacecraft formation cooperative control method step that guarantee of the invention is communicated and avoided collision are as follows: initially set up space flight
Device formation flight system relative position kinetic model；It is then based on digraph opinion, Spacecraft Formation Flying system is led to
Believe situation description；Then, consider that communication distance is limited, safe distance limits, defining scalar potential function；Finally, considering model not
Certainty and external interference influence, and are based on adaptive technique, and design collaboration controller makes formation spacecrafts realize that final speed becomes
In consistent.The flow diagram of entire method is as shown in Figure 1, specific implementation step is as follows:
The first step, it is assumed that Spacecraft Formation Flying system includes n spacecraft, is illustrated by taking Fig. 2 as an example: it is with the earth's core
Origin establishes geocentric inertial coordinate system (O-XYZ)；Set virtual spacecraft, it is assumed that it is θ that virtual spacecraft, which operates in true anomaly,
Half, semi-major axis ac, eccentricity ecElliptic orbit；Using virtual spacecraft as spacecraft is referred to, LVLH coordinate system is established
(o-xyz)；With reference to spacecraft relative to the earth's core position be Rc=[Rc,0,0]T, subscript T representing matrix transposition, wherein Indicate with reference to spacecraft and the earth's core in the direction of the x axis at a distance from；With LVLH coordinate
System is reference frame, establishes Spacecraft formation process relative position kinetic model:
Wherein, ρi=[ρix,ρiy,ρiz]TIndicate position of i-th of spacecraft relative to reference spacecraft, wherein ρix,
ρiy, ρizRespectively i-th of spacecraft relative to reference spacecraft in x-axis, y-axis, the distance in z-axis；vi=[vix,viy,viz]T
Indicate speed of i-th of spacecraft relative to reference spacecraft, wherein vix, viy, vizRespectively i-th of spacecraft is relative to ginseng
Spacecraft is examined in x-axis, y-axis, the speed in z-axis；miIndicate the quality of i-th of spacecraft；diIndicate what i-th of spacecraft was subject to
External disturbance power；uiIndicate the control signal of i-th of spacecraft；Indicate i-th of boat
The coriolis force and centrifugal force matrix of its device, whereinIt is as follows for the first derivative of virtual pilotage people's true anomaly θ:
Wherein,Reflection refers to the mean motion of spacecraft；μ indicates geocentric gravitational constant；
Indicate the time-variant nonlinear item of i-th of spacecraft, as follows:
Wherein,For the second order with reference to spacecraft true anomaly θ
Derivative；Indicate distance of i-th of spacecraft relative to the earth's core.
According to practical Spacecraft Formation Flying system, consider that three quality are the spacecraft volume that the spacecraft of 20kg is constituted
Team's flight system, then m1=m2=m3=20kg；Setting operates on elliptic orbit with reference to spacecraft, and it is long that orbital elements are selected as half
Axis ac=7000kg, orbital eccentricity ec=0.02, with reference to spacecraft true anomaly initial value θ (0)=0rad；External disturbance power d
=0.001 [sin (t), cos (t), sin (t)]TN；Geocentric gravitational constant μ=3.986 × 1014N·m2/kg；Initial time three
The position of formation spacecrafts is respectively (71,0,50) m, (0, -100,0) m, (- 71,0, -50) m；Initial time three formation
The speed of spacecraft is respectively (0, -0.5,0) m/s, (- 0.25,0, -0.25) m/s, (0, -0.5,0) m/s.
Second step carries out signal intelligence description to Spacecraft Formation Flying system: owning in Spacecraft Formation Flying system
It is carried out wireless communication between spacecraft；Signal intelligence is described as the oriented strong connection figure G={ V, E, A } of Weight, V=
{v1... vi... vj..., vnIndicate by n formation spacecrafts the node set formed；Indicate boat of forming into columns
Communication path between its device；A=[aij]∈Rn×nIndicate the adjacency matrix between i-th of spacecraft and j-th of spacecraft；Such as
Fruit (vi,vj) ∈ E indicates establish and communicate between spacecraft j and spacecraft i, spacecraft j can obtain the information of spacecraft i, neighbour
Meet element a in matrixij> 0, wherein viAnd vjRespectively indicate i-th of spacecraft node and j-th of spacecraft node；IfIndicate that spacecraft j cannot obtain the information of spacecraft i, element a in adjacency matrixij=0；Meanwhile considering spacecraft
Itself is without wirelessly communicating, element a in adjacency matrixij=0.Consider the Spacecraft Formation Flying system that three spacecrafts are constituted
System, signal intelligence is as shown in figure 4, a in adjacency matrix12=0.01, a23=0.01, a31=0.01, remaining element is zero；This
Show that second spacecraft can obtain the information of first spacecraft, third spacecraft can obtain second spacecraft
Information, first spacecraft can obtain the information of third spacecraft.Oriented strong connection figureLaplacian Matrix be L
=[lij]∈Rn×n, wherein lij=∑j≠iaij(i=j), lij=-aij(i ≠ j), as follows:
Third step, defining scalar potential function to spacecraft communication finite region and avoid collision region and constrain, space flight
Scalar potential function design between device i and spacecraft j are as follows:
Wherein, ρaIt indicates the maximum allowable range for ensuring efficient communication between spacecraft, is selected as 100m；ρcIndicate spacecraft
Between avoid collision minimum allowable range, be selected as 10m；ρdIt indicates the warning distance avoided collision between spacecraft, is selected as 15m.
Relationship between three kinds of distances, as shown in Figure 3.Scalar potential function V between spacecraft i and spacecraft jijAbout ρiGradient
Are as follows:
Wherein,
ρiAnd ρjRespectively indicate i-th of spacecraft and j-th
Position of the spacecraft relative to reference spacecraft.
Scalar potential function based on above-mentioned definition, when i-th of spacecraft and j-th of spacecraft close to each other, if two
When the distance between spacecraft approaches the minimum allowable range avoided collision, the scalar potential function value between two spacecrafts will
It becomes very large.When spacecraft i and spacecraft j away from each other, if distance between the two is close to the maximum for carrying out efficient communication
Allow distance, the potential energy between two spacecrafts can be very big, and correspondingly scalar potential function will become very large.In this way with compared with
High potential function value limits spacecraft prohibited flight area, guarantees that spacecraft can operate in communication effectively and avoid touching
In the safe and reliable region hit.
4th step, based on established in step 1 there are Spacecraft Formation Flying system relative positions in the case of external disturbance
Kinetic model, scalar potential letter defined in the signal intelligence description and step 3 of Spacecraft Formation Flying system in step 2
Number considers model uncertainty and external disturbance, is based on adaptive technique, design collaboration controller are as follows:
Adaptive law are as follows:
Wherein,αi> 0 is control gain, passes through tune
Ginseng, is selected as αi=0；ε > 0 be for compensate interfere normal number, meet ε >=| | di||∞, joined by adjusting, be selected as ε=0.05；ηi
The adjustable constant that > 0, β > 0 is positive is joined by adjusting, is selected as ηi=0.5, β=0.01；For estimating for i-th spacecraft mass
The initial value of evaluation, the estimation of three formation spacecrafts quality is chosen forSelf-adapting synergizing controller uiIt can protect
It is able to carry out efficient communication between card formation spacecrafts, and will not be collided；Each formation spacecrafts final speed tends to simultaneously
Unanimously, therefore entire Spacecraft Formation Flying system can operate in implementation model uncertainty and outside in safe and reliable region
Relative position Collaborative Control under interference effect.
It is emulated by Matlab, the available Spacecraft formation cooperative control method for guaranteeing communication and avoiding collision can
With realize it is limited that there are communication distances, safe distance limitation, under model uncertainty and external disturbance effect, Spacecraft formation flies
The final speed of row system is consistent, and this method has stronger robustness and anti-interference ability and can guarantee that Spacecraft formation flies
Row system is run in safe and reliable region.
The content that description in the present invention is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (5)
1. a kind of Spacecraft formation cooperative control method for guaranteeing communication and avoiding collision, which comprises the following steps:
(1) consider that there are in the case of external disturbance, establish Spacecraft Formation Flying system relative position kinetic model；
(2) it is discussed based on digraph, Spacecraft Formation Flying system communication situation is described；
(3) defining scalar potential function limits guarantee spacecraft efficient communication and the safe and reliable region avoided collision；
(4) spacecraft in the Spacecraft Formation Flying system relative position kinetic model, step (2) based on step (1) foundation
Scalar potential function defined in formation flight system communication situation and step (3) designs self-adapting synergizing controller, makes space flight
The final speed that device is formed into columns reaches unanimity.
2. the method according to claim 1, wherein the step (1) specifically:
Considering that there are in the case of external disturbance, it is assumed that Spacecraft Formation Flying system includes n spacecraft, using the earth's core as origin,
Establish geocentric inertial coordinate system (O-XYZ)；Set virtual spacecraft, it is assumed that it is θ that virtual spacecraft, which operates in true anomaly, and half is long
Axis is ac, eccentricity ecElliptic orbit；Using virtual spacecraft as spacecraft is referred to, LVLH coordinate system (o-xyz) is established；
With reference to spacecraft relative to the earth's core position be Rc=[Rc, 0,0]T, subscript T representing matrix transposition, wherein Indicate with reference to spacecraft and the earth's core in the direction of the x axis at a distance from；With LVLH coordinate system
For reference frame, Spacecraft Formation Flying system relative position kinetic model is established are as follows:
Wherein, ρi=[ρix, ρiy, ρiz]TIndicate position of i-th of spacecraft relative to reference spacecraft, ρix, ρiy, ρizRespectively
I-th of spacecraft relative to reference spacecraft in x-axis, y-axis, the distance in z-axis；vi=[vix, viy, viz]TIndicate i-th of space flight
Speed of the device relative to reference spacecraft, wherein vix, viy, vizRespectively i-th of spacecraft is relative to reference spacecraft in x
Axis, y-axis, the speed in z-axis；miIndicate the quality of i-th of spacecraft；diIndicate the external disturbance power that i-th of spacecraft is subject to；
uiIndicate the control signal of i-th of spacecraft；Indicate the coriolis force of i-th of spacecraft
With centrifugal force matrix, whereinIt is as follows for the first derivative with reference to spacecraft true anomaly θ
Wherein,Reflection refers to the mean motion of spacecraft；μ indicates geocentric gravitational constant；Indicate i-th
The time-variant nonlinear item of a spacecraft, as follows:
Wherein,For the second dervative with reference to spacecraft true anomaly θ；Indicate distance of i-th of spacecraft relative to the earth's core.
3. the method according to claim 1, wherein logical to Spacecraft Formation Flying system in the step (2)
Letter situation is described specifically:
Assuming that being carried out wireless communication between all spacecrafts in formation flight system；Signal intelligence is described as the oriented strong of Weight
Connection figure G=V, E, A), wherein V={ v1... vi..., vj..., vn) indicate the node being made of n formation spacecrafts
Set, wherein v1... vi..., vj..., vn1 is respectively indicated to n spacecraft node；Indicate formation space flight
Communication path set between device；A=[aij]∈Rn×nIndicate adjacency matrix between i-th of spacecraft and j-th of spacecraft；Such as
Fruit (vi, vj) ∈ E indicates to establish and communicate between spacecraft j and spacecraft i, spacecraft j can obtain the information of spacecraft i, then
Element a in adjacency matrixij> 0；IfIndicate that spacecraft j cannot obtain the information of spacecraft i, then adjacency matrix
Middle element aij=0, wherein viAnd vjRespectively indicate i-th of spacecraft node and j-th of spacecraft node；Meanwhile considering space flight
Device itself is without wirelessly communicating, element a in adjacency matrixij=0；The Laplacian Matrix of oriented strong connection figure G is L=
[lij]∈Rn×n, wherein lij=∑j≠iaij(i=j), lij=-aij(i≠j)。
4. the method according to claim 1, wherein considering that communication distance is limited and safe in the step (3)
Distance limitation, defines the scalar potential function between spacecraft i and spacecraft j are as follows:
Wherein, ρi=[ρix, ρiy, ρiz]TIndicate position of i-th of spacecraft relative to reference spacecraft, ρix, ρiy, ρizRespectively
I-th of spacecraft relative to reference spacecraft in x-axis, y-axis, the distance in z-axis；ρaIt indicates to ensure efficient communication between spacecraft
Maximum allowable range；ρcIndicate the minimum allowable range avoided collision between spacecraft；ρdIt indicates to avoid collision between spacecraft
Warning distance, the scalar potential function V between spacecraft i and spacecraft jijAbout ρiGradient are as follows:
Wherein, ρiAnd ρjIt respectively indicates i-th of spacecraft and j-th of spacecraft is opposite
In the position of reference spacecraft.
5. the method according to claim 1, wherein designing self-adapting synergizing controller in the step (4)
Are as follows:
Adaptive law:
Wherein,αi> 0 is control gain；ε > 0 is for mending
The normal number for repaying interference, meet ε >=| | di||∞；ηiThe adjustable constant that > 0, β > 0 is positive；For i-th spacecraft mass
Estimated value；viAnd vjRespectively indicate the speed of i-th of spacecraft and j-th of spacecraft relative to reference spacecraft；VijIndicate boat
Scalar potential function between its device i and spacecraft j.
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| CN110196599A (en) * | 2019-06-26 | 2019-09-03 | 华南理工大学 | A kind of collision prevention with connect the unmanned boat distribution formation control method kept under constraint |
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| CN113406967A (en) * | 2021-06-17 | 2021-09-17 | 北京航空航天大学 | Multi-spacecraft distributed cooperative formation control method |
| CN113406967B (en) * | 2021-06-17 | 2022-07-15 | 北京航空航天大学 | Multi-spacecraft distributed cooperative formation control method |
| CN113697130A (en) * | 2021-07-28 | 2021-11-26 | 西北工业大学 | Spacecraft formation capture collision avoidance control method based on disturbance observer |
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