CN109799709B - Space rope system combination two-dimensional anti-sway control method based on sliding mode variable structure control - Google Patents
Space rope system combination two-dimensional anti-sway control method based on sliding mode variable structure control Download PDFInfo
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Abstract
The invention discloses a two-dimensional anti-sway control method for a space rope system combination body based on sliding mode variable structure control. Establishing a space fixed rectangular coordinate system, establishing a swing dynamic model of the space rope system combination according to a Lagrange equation, converting the swing dynamic model into a state equation, establishing a sliding mode variable structure swing angle suppression control mode, a speed feedback control mode and a position feedback control mode, respectively processing the swing angle suppression control mode, the speed feedback control mode and the position feedback control mode to obtain control quantities of a swing angle, a speed and a position, and carrying out compound calculation to obtain a total control quantity to be brought into the swing dynamic model for control. The method realizes the two-dimensional swing control of the space rope system combination body and has the advantages of quick control response, good robustness, strong anti-interference capability and the like.
Description
Technical Field
The invention relates to a control method of a space rope system combination body, in particular to a two-dimensional anti-swing control method of the space rope system combination body based on sliding mode variable structure control.
Background
The space tether system is a flight system formed by connecting a plurality of satellites or spacecrafts by flexible tethers. Two-part tether systems, as a typical space tether, generally consist of two spacecraft and a long cable connecting the two. The two ropes are the basis for performing the analysis of the rope system.
At present, students take the two-body tether capturing process as a research object to carry out a great deal of research, and research a set of control method based on tether length rate control, thruster control, tether tension control, moment control and the like, so that good effects are obtained in the researches of posture stability, tether retraction stability and the like.
For the cyclic motion occurring in a two-body tether, there is a document that states that the amplitude of in-plane vibration is several times larger than the amplitude of out-of-plane vibration, and that the assumption of stabilization is often given to the out-of-plane tilt angle, so that many studies are focused on the elimination of the in-plane tilt angle and the approximation of the cyclic motion of the two-body tether as a planar motion.
However, in practice, the in-plane and out-plane swinging of the rope system assembly are coupled to each other, and therefore the present invention is directed to a spatial rope system assembly in a spatial levitation state as a research object, and a two-dimensional swinging control research of the spatial rope system assembly based on the acceleration control of the mission platform is performed.
Disclosure of Invention
The invention aims to provide a two-dimensional sway elimination control method of a space rope system combination body based on sliding mode variable structure control, aiming at solving the problem of two-dimensional sway of the space rope system combination body, and having the advantages of simple controller design, strong engineering realizability, good control effect and the like.
In order to achieve the above object, as shown in fig. 2, the steps of the technical scheme adopted by the invention are as follows:
step 1) taking a dragging direction as a Z axis, establishing XY axes on a plane perpendicular to the dragging direction, and establishing an XYZ three-dimensional Cartesian coordinate system as a space fixed rectangular coordinate system; establishing and obtaining a swing dynamic model of the space rope system combination according to a Lagrange equation, wherein the swing dynamic model comprises the following steps:
wherein: (x, y, z) is the centroid O of the task platform0Fixing the three-dimensional coordinates of the rectangular coordinate system in space, wherein m is the mass of the target satellite, l is the length of a tether between the task platform and the target satellite, and FTDenotes the tether tension, theta is O0O1The included angle between the projection of the XZ plane and the central line of the cone is the in-plane tilt angle of the space rope system combination,
is O0O1Projection in the XZ plane with O0O1Angle therebetween, i.e. the out-of-plane swing angle, O, of the spatial tether assembly1Is the centroid of the target star; one point on the letter represents the first derivative, and two points on the letter represent the second derivative;
initially setting task platform centroid O0Acceleration in X and Y directions
uax,uayRespectively representing the acceleration control quantity in the x direction and the y direction for realizing the swing angle control and the first derivative of the length of the tether
And constructs a state variable
x1,x2,x3,x4Respectively expressing the first state variable, the second state variable, the third state variable and the fourth state variable, and converting the swing kinetic model of the space tether combination into a state equation:
step 2) in the dragging process, the center of mass O of the task platform0Acceleration in Z-axis direction
And the length l of the tether is fixed and unchanged, so as to form a task platformCenter of mass O0Acceleration in X and Y directions
Designing the controller as control input, and selecting the approach law
Establishing a swing angle suppression control mode with a sliding mode variable structure:
wherein u isax,uayRespectively representing the X-axis and Y-axis direction acceleration control quantities, s, for realizing the swing angle control1And s2Are respectively two groups of variables
And
a slip form face of1、a2Representing slip form surfaces s1First and second coefficients of (b)1、b2Representing slip form surfaces s2Sgn () is a sign function, and lambda and eta are respectively a first coefficient and a second coefficient of an approximation law in a sliding mode variable structure;
step 3) taking the speed difference value as the speed closed loop input, and taking the speed feedback value
From pair of task platform centroids O0Acceleration of a vehicle
The integration is considered from the swing angle control, the control quantity in the speed closed loop link is taken as disturbance and introduced into a forward channel, and the following speed feedback control mode is established:
wherein u isvx、uvyRespectively representing the acceleration control quantity in the X-axis direction and the acceleration control quantity in the Y-axis direction for realizing the speed control of the task platform; k is a radical ofpvx、kivxAnd kdvxProportional, integral and differential coefficients, k, respectively, of the velocity PID controller on the X-axis coordinate componentpvy、kivyAnd kdvyProportional coefficient, integral coefficient and differential coefficient of the speed PID controller on the Y-axis coordinate component respectively; Δ vxIs the velocity error, Δ v, in the X-axis coordinate componentyIs the velocity error on the Y-axis coordinate component, t represents time;
step 4), the position difference value is used as position closed loop input, and the position feedback value (x, y) comes from the center of mass O of the task platform0Velocity value
In view of angle control, the control quantity in the position closed loop link is introduced into a forward channel as disturbance, and the following position feedback control mode is established:
wherein u issx、usyRespectively showing the acceleration control quantity, k, in the X-axis direction and the Y-axis direction for realizing the position control of the task platformpsx、kisxAnd kdsxProportional, integral and differential coefficients, k, respectively, of the position PID controller on the X-axis coordinate componentpsy、kisyAnd kdsyProportional coefficient, integral coefficient and differential coefficient of position PID controller on Y-axis coordinate component(ii) a Δ X is a position error on the X-axis coordinate component, and Δ Y is a position error on the Y-axis coordinate component;
step 5) processing the u obtained in the step 2)ax、uayAnd step 3) processing the obtained uvx、uvyAnd step 4) processing the obtained usx、usySubstituting the control quantity into the following composite control calculation formula to obtain the acceleration control quantity u in the X-axis direction and the Y-axis direction for realizing the control of the task platformxAnd uy：
ux＝uax-uvx-usx、uy＝uay-uvy-usy
Will uxAnd uyThe mass center O of the task platform is respectively replaced in the swing dynamics model obtained in the step 1)0Acceleration in X and Y directions
Thereby realizing the two-dimensional anti-sway control of the space rope system combination body on the XY plane.
The space tether assembly is placed under a vacuum non-gravity condition and comprises a task platform and a target star, the task platform is connected with the target star through a tether, the target star is driven to move along a dragging direction by the task platform, the tether is regarded as a rigid body without elasticity and shrinkage in the dragging process, the target star reciprocates on a plane perpendicular to the dragging direction, and the control method actively controls the movement of a dragging point of the task platform to perform anti-sway control on the plane reciprocating motion of the target star.
The mission platform can be essentially a mobile device with self-motion driving power, such as an air jet device and a spacecraft, and the target satellite is a satellite.
The invention has the beneficial effects that:
the invention provides a simple and effective swing control method for a spatial dragging rope system combination body, which can realize two-dimensional swing elimination control of the spatial rope system combination body through the acceleration of a task platform in the x and y directions.
The invention has the advantages of fast control response, good robustness, strong anti-interference capability and the like. The method is suitable for controlling the space tether system in general occasions.
Drawings
FIG. 1 is a schematic view of a swing dynamics model of the spatial tether assembly of the present invention.
Fig. 2 is a block diagram of the control method of the present invention.
Fig. 3 is a time history of the in-plane and out-of-plane swing angle of the present invention.
FIG. 4 is a time history of the acceleration of the tow point of the present invention.
FIG. 5 is a plot of pull point velocity versus time for the present invention.
FIG. 6 is a time history of the tow point location of the present invention.
In the figure: 1. task platform, 2, tether, 3, target star.
Detailed Description
The invention is further illustrated by the following figures and examples.
The implementation begins with the establishment of a swing dynamics model for a spatial tether assembly.
As shown in fig. 1, a spatial rectangular coordinate system (x, y, z) is established, the center of mass of the task platform is equivalent to a traction point, and the coordinate of the traction point of the spatial rope system combination body is set as O0(i.e. the center of mass of the task platform 1) the tow point is free to maneuver. The target star mass is m, the centroid coordinate is O1. The target star 3 is connected with the traction point through a tether 2, the length of the tether is l, and the tension of the tether is FT。
O0O1The included angle between the projection of the XZ plane and the central line of the cone is an in-plane pivot angle theta, O0O1Projection in the XZ plane with O0O1The included angle between the two is an out-of-plane swing angle
And establishing a Lagrangian equation.
The simplified model of the two-body tether-dumbbell model is a kinematic system with the spacecraft as mass point and the tether as rigid body, and the assumption of the dumbbell model is as follows:
(1) a tether 2: tensioning, regardless of tether mass and damping;
(2) mission platform and target star (spacecraft): the effect of the volume on the space tether assembly is not considered as a mass point;
(3) center of mass: the mass center of the space tether combination body is located at a certain position of the tether according to the mass distribution.
(4) Potential energy field: the space rope system combination body is in a suspended state of complete weightlessness in space, and a gravity gradient field is not considered for the moment.
Task platform centroid O0Coordinates are (x, y, z), target star centroid O1The coordinate is (x)m，ym，zm) Wherein
The total kinetic energy T of the system of the space rope system combination body is as follows:
wherein x ism、ym、zmThree-dimensional coordinates respectively expressed as the centroid of the target star;
based on the assumption that the spatial tether assembly is in a completely weightless suspended state, the system has no potential energy field. The system has a potential energy V of:
V＝0 (2)
computing the lagrangian function L:
respectively taking an in-plane swing angle theta and an out-of-plane swing angle
Substituting the length l of the rope into a Lagrange equation as a generalized coordinate, and then taking the in-plane swing angle theta as a generalized coordinate q1Establishing an equation and taking out the out-of-plane tilt angle
As a generalized coordinate q2Establishing an equation, and taking the length l of the rope as a generalized coordinate q3Establishing an equation, and processing the three aspects together to obtain a swing dynamic model of the space tether combination:
the experimental conditions of the specific examples carried out after steps 1) to 5) of the method according to the invention are then as follows:
will eliminate pendulum controller ux、uyThe method is applied to a rope system combination model for numerical simulation verification. Change of rope length
The simulation uses values of the physical parameters and initial conditions as shown in table 1.
TABLE 1 simulation parameters
Set target speed
Target position (x)d,yd) (0, 0). The simulation results of the anti-sway control are shown in fig. 3-6, and the time histories of the sway angle, the acceleration, the speed and the position of the traction point are respectively shown in fig. 3-6. As can be seen, the in-plane and out-plane swing angles are stabilized to be near 0 degrees within 250s under the input mode of the sway eliminating control, and the designed sway eliminating controller can be verified to achieve the stabilization of the in-plane and out-plane swing angles of the spatial tether combination.
Claims (3)
1. A two-dimensional anti-swing control method for a space rope system combination body based on sliding mode variable structure control is characterized by comprising the following steps:
step 1) taking a dragging direction as a Z axis, establishing XY axes on a plane perpendicular to the dragging direction, and establishing an XYZ three-dimensional Cartesian coordinate system as a space fixed rectangular coordinate system; establishing and obtaining a swing dynamic model of the space rope system combination according to a Lagrange equation, wherein the swing dynamic model comprises the following steps:
wherein: (x, y, z) is the centroid O of the task platform0Fixing the three-dimensional coordinates of the rectangular coordinate system in space, wherein m is the mass of the target satellite, l is the length of a tether between the task platform and the target satellite, and FTDenotes the tether tension, theta is O0O1The included angle between the projection of the XZ plane and the central line of the cone is the in-plane tilt angle of the space rope system combination,
is O0O1Projection in the XZ plane with O0O1Angle therebetween, i.e. the out-of-plane swing angle, O, of the spatial tether assembly1Is the centroid of the target star; one point on the letter represents the first derivative, and two points on the letter represent the second derivative;
initially setting task platform centroid O0Acceleration in X and Y directions
uax,uayRespectively representing the acceleration control quantity in the x direction and the y direction for realizing the swing angle control and the first derivative of the length of the tether
And constructs a state variable
x1,x2,x3,x4Respectively expressing the first state variable, the second state variable, the third state variable and the fourth state variable, and converting the swing kinetic model of the space tether combination into a state equation:
step 2) in the dragging process, the center of mass O of the task platform0Acceleration in Z-axis direction
And tether length l is fixed and constant, with task platform center of mass O0Acceleration in X and Y directions
Designing the controller as control input, and selecting the approach law
Establishing a swing angle suppression control mode with a sliding mode variable structure:
wherein u isax,uayRespectively representing the X-axis and Y-axis direction acceleration control quantities, s, for realizing the swing angle control1And s2Are respectively two groups of variables
And
a slip form face of1、a2Representing slip form surfaces s1First and second coefficients of (b)1、b2Representing slip form surfaces s2Sgn () is a sign function, and lambda and eta are respectively a first coefficient and a second coefficient of an approximation law in a sliding mode variable structure;
step 3) taking the speed difference value as the speed closed loop input, and taking the speed feedback value
From pair of task platform centroids O0Acceleration of a vehicle
The integration is considered from the swing angle control, the control quantity in the speed closed loop link is taken as disturbance and introduced into a forward channel, and the following speed feedback control mode is established:
wherein u isvx、uvyRespectively representing the acceleration control quantity in the X-axis direction and the acceleration control quantity in the Y-axis direction for realizing the speed control of the task platform; k is a radical ofpvx、kivxAnd kdvxProportional coefficient, integral coefficient and of the velocity PID controller on the X-axis coordinate component, respectivelyDifferential coefficient, kpvy、kivyAnd kdvyProportional coefficient, integral coefficient and differential coefficient of the speed PID controller on the Y-axis coordinate component respectively; Δ vxIs the velocity error, Δ v, in the X-axis coordinate componentyIs the velocity error on the Y-axis coordinate component, t represents time;
step 4), the position difference value is used as position closed loop input, and the position feedback value (x, y) comes from the center of mass O of the task platform0Velocity value
In view of angle control, the control quantity in the position closed loop link is introduced into a forward channel as disturbance, and the following position feedback control mode is established:
wherein u issx、usyRespectively showing the acceleration control quantity, k, in the X-axis direction and the Y-axis direction for realizing the position control of the task platformpsx、kisxAnd kdsxProportional, integral and differential coefficients, k, respectively, of the position PID controller on the X-axis coordinate componentpsy、kisyAnd kdsyProportional coefficient, integral coefficient and differential coefficient of position PID controller on Y-axis coordinate component; Δ X is a position error on the X-axis coordinate component, and Δ Y is a position error on the Y-axis coordinate component;
step 5) processing the u obtained in the step 2)ax、uayAnd step 3) processing the obtained uvx、uvyAnd step 4) processing the obtained usx、usySubstituting the control quantity into the following composite control calculation formula to obtain the acceleration control quantity u in the X-axis direction and the Y-axis direction for realizing the control of the task platformxAnd uy：
ux＝uax-uvx-usx、uy＝uay-uvy-usy
Will uxAnd uyThe mass center O of the task platform is respectively replaced in the swing dynamics model obtained in the step 1)0Acceleration in X and Y directions
Thereby realizing the two-dimensional anti-sway control of the space rope system combination body.
2. The two-dimensional anti-sway control method of the spatial rope system combination based on the sliding mode variable structure control according to claim 1, characterized by comprising the following steps: the space tether assembly is placed under a vacuum non-gravity condition and comprises a task platform and a target star, the task platform is connected with the target star through a tether, the task platform drives the target star to move along a dragging direction, and the target star reciprocates on a plane perpendicular to the dragging direction.
3. The two-dimensional anti-sway control method of the spatial rope system combination based on the sliding mode variable structure control according to claim 1, characterized by comprising the following steps: the task platform is a mobile device with self motion driving power, and the target satellite is a satellite.
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| CN111158240B (en) * | 2020-01-15 | 2022-09-23 | 西北工业大学 | Pose sliding mode control method of aerial rapid yaw capture device |
| CN111736459B (en) * | 2020-05-15 | 2022-04-19 | 西北工业大学 | Tether vibration rapid suppression control method without initial value dependence |
| CN112520066B (en) * | 2020-11-25 | 2022-06-28 | 中山大学 | Full-electric stable control method for large-orbit eccentricity multi-body tethered satellite |
| CN112875509B (en) * | 2021-01-13 | 2022-02-22 | 南京工业大学 | Positioning and swing eliminating method for under-actuated tower crane with load lifting motion |
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