CN111625012A - Distributed cooperative operation method for multi-space robot - Google Patents
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Abstract
The invention relates to a distributed cooperative operation method for multiple space robots, which realizes stable control of a combined system by using information interaction among robots. The method is suitable for different network-like connection topologies among the robots, avoids the requirement of a central node, and can flexibly increase or reduce the number of the robots in the system and the connection configurations thereof. Compared with the conventional spacecraft control method, the method has the following advantages: 1) the method is a distributed algorithm, and the robot unit control moment calculation, control parameter coordination and updating do not need a central unit, so that the flexibility and robustness of the system are improved; 2) the method is suitable for various connection topologies such as a network topology structure, a bus topology and the like, and has wide practicability; 3) the method is suitable for distributed cooperative control among heterogeneous robots, and is suitable for thrustor robots and reaction flywheel robots.
Description
Technical Field
The invention belongs to the field of spacecraft control, relates to a distributed cooperative operation method of a multi-space robot, and particularly relates to a stable control method for realizing a combination body by a plurality of space robots through distributed calculation.
Background
With the development of aerospace technology, the spacecraft plays more and more important roles in communication, navigation positioning, earth observation and the like. Direct and indirect losses caused by the on-orbit failure of the spacecraft are huge, and the development of an on-orbit service technology is the key development direction of each aerospace major country in the world. For this reason, various researchers have developed various types of space robots such as a space robot based on a space manipulator, a space tether robot based on a tether, a space cell robot based on a cellularization concept, and a space fly net robot based on a rope net. For a large-scale failure spacecraft, the quality of the large-scale failure spacecraft is up to several tons, after a plurality of small space robots are in butt joint with the failure spacecraft, information interaction and cooperation are needed, take-over control is carried out on the failure spacecraft, and stable control of the whole combined system is achieved. Unlike a single robot system, the structure of this system is distributed, and thus it is necessary to design a distributed cooperative control scheme suitable for the system structure thereof.
In order to solve the problem of cooperative control of a plurality of space robots on a combined system, the invention provides a distributed cooperative control method, which realizes stable control on the combined system by utilizing information interaction among the robots. The method is suitable for different network-like connection topologies among the robots, avoids the requirement of a central node, and can flexibly increase or reduce the number of the robots in the system and the connection configurations thereof.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a distributed cooperative operation method for multiple space robots, which realizes distributed cooperative control among multiple robots, namely realizes stable control on a combined system by utilizing multiple robots with control capability.
Technical scheme
A distributed cooperative operation method of a multi-space robot is characterized in that: the system comprises N robots, each robot has a unique identity ID, the set of the IDs of all the robots is X, and the defined ID is 0 and is an illegal identity; let the identity be IDiThe robot of (1) is a robot i; the robot i records the ID list of all the connected robots in the system and records the ID list as
Wherein each element represents an interface 1 to an interface n of the robot iiThe initial value of the ID value of the connected robot is 0; the operation steps are as follows:
step 1, connection topology detection and updating: each robot j belongs to X and performs connection topology detection and updating every T seconds, wherein T is more than or equal to D delta T, D is the diameter of an undirected graph of the multi-robot link topology and is determined by the robot network topology; delta t is the time interval of information interaction between the robots, and each robot actively sends connection detection information or replies the connection detection information of adjacent robots;
the process of the robot j actively sending the connection detection information:
the robot j adopts a network communication field identification method to send a connection request through all data interfaces of the robot, and the transmitted information comprises the identification ID of the robotj(ii) a If the interface p of the robot j is more than or equal to 1 and less than or equal to njReceiving the connection detection information replied by the adjacent robot, reading the ID of the robot connected with the interface p contained in the connection detection informationkThen let ljp＝IDk(ii) a If the interface p does not receive the reply, it means that the interface p is not connected with the robot or the connected robot is invalid, and let ljp＝0；
The process of replying the connection detection information of the adjacent robot comprises the following steps:
the interface r of the robot j receives the connection detection information of the adjacent robot, reads the ID of the robot connected with the interface r contained in the connection detection informationkLet Ljr＝IDkAnd reply the connection detection information of oneself through the interface r; the interface r of the robot j receives the connection detection information of the adjacent robot, reads the ID of the robot connected with the interface r contained in the connection detection informationkLet Ljr＝IDkAnd reply the connection detection information of oneself through the interface r;
the step is executed continuously in a timing cycle;
step 2, initializing control parameters:
the set of all robots for receiving ground remote control commands is CcomSet size Ncom1≤Ncom≤N；
All robot IDl∈CcomReceiving expected attitude sigma sent by ground measurement and control stationdRecording the reception time Tl；
The robot l believes according to selfConnection list LlWill σdAnd TlIs sent to LlAll neighboring robots m in (1), robot m receives σdAnd TlThen, T is comparedlAnd Tm；
If Tl＞TmIf yes, then update the recorded sigmadLet Tm＝TlAnd will bedAnd an update time TmFurther forwarding to all adjacent robots except the robot l; otherwise, ignoring;
and 3, calculating the control moments of all the robots:
robot IDξ∈ X use sensors to measure spacecraft attitude σ in terms of modified rodgers parametersξ∈R3Angular velocity omegaξ∈R3And angular acceleration
Each robot control parameter is three groups:
including parameters
Parameter Dξ＝diag(ξ1,ξ2,ξ3)、Kξ＝diag(κξ1,κξ2,κξ3) Wherein
ξ1,ξ2,ξ3≥0，κξ1,κξ2,κξ3If the initial values of the control parameters of all the robots are more than 0, the initial values of the control parameters of all the robots are set to be consistent, and the control parameters are updated in step 5; according to the control parameter Jξ、Dξ、KξAnd the desired attitude σdCalculating control moment τ of robot ξξThe calculation method is as follows:
wherein: sigmaeCorrecting attitude errors under the representation of the Rodris parameter;
step 4, calculating parameter scale factors:
each robot calculates its own parameter scale factor according to its own residual energy, for robot IDζ∈ X, parameter scale factor Wζ＝[Wζ1Wζ2Wζ3]Wherein each element has a value range of [ 01 ]]The calculation method is as follows:
case 1: if the zeta executor of the robot is a thruster, the residual propellant is calculated as:
wherein: a is a constant and has a value range of 3-100; b is a constant, and the value range is 1-10; e.g. of the typeζFor the remaining propellant mass of the robot, efullThe total amount of the robot fuel storage tank;
case 2: if the zeta executor of the robot is three reaction flywheels which are installed in an orthogonal mode, the residual energy is calculated as follows:
wherein: r isζ1、rζ2、rζ3The rotating speeds of the three reaction flywheels of the robot are respectively zeta; r isfullIs the saturation speed of flywheel αζ1，αζ2，αζ3Calculated using the following formula, respectively:
wherein:
Tζconfiguring a matrix for a zeta flywheel of the robot, wherein the matrix represents a rotation matrix of a flywheel rotation axis coordinate system and an inertia coordinate system;
and 5, updating control parameters:
all robots regularly update control parameters and parameter scale factors with adjacent robots
Case 1: robot
The specific way of actively sending information is as follows:
robot
According to
And the recorded IDs of the adjacent robots sequentially exchange data with the robots connected with the adjacent robots:
step (1): q is 1;
step (2): judgment of
A value of, if
Jumping to the step (3); if it is
Suppose that
Presentation robot
The interface q is connected with the robot pi, and the robot
Will be provided with
Sending the data to the robot pi, and the robot pi replies the W of the robot piπ，
π1,π2,π3，κπ1,κπ2,κπ3Data; robot after finishing information interaction
And the robot pi updates the parameter scale factor and the control parameter thereof according to the following formulas
And (3): q is q +1, if
Returning to the step 3, otherwise, performing the step (2);
case 2: robot
Receiving information of adjacent robots, wherein the processing mode is consistent with the processing step of the robot pi in the step (2);
and returning to the step 3 after the step is executed.
Case 1 in step 4: if the zeta executor of the robot is a thruster, the residual propellant is calculated as:
wherein: b is a constant, and the value range is 1-10; e.g. of the typeζFor the remaining propellant mass of the robot, efullThe total amount of the robot fuel storage tank.
Case 2 in step 4: if the zeta executor of the robot is three reaction flywheels which are installed in an orthogonal mode, the residual energy is calculated as follows:
wherein: r isζ1、rζ2、rζ3The rotating speeds of the three reaction flywheels of the robot are respectively zeta; r isfullIs the saturation speed of flywheel αζ1，αζ2，αζ3Calculated using the following formula, respectively:
wherein:
Tζa matrix is configured for the zeta flywheel of the robot, and the matrix represents a rotation matrix of a flywheel rotation axis coordinate system and an inertia coordinate system.
Advantageous effects
The distributed cooperative operation method for the multi-space robots provided by the invention realizes stable control of a combined system by utilizing information interaction among the robots. The method is suitable for different network-like connection topologies among the robots, avoids the requirement of a central node, and can flexibly increase or reduce the number of the robots in the system and the connection configurations thereof. Compared with the conventional spacecraft control method, the method has the following advantages: 1) the method is a distributed algorithm, and the robot unit control moment calculation, control parameter coordination and updating do not need a central unit, so that the flexibility and robustness of the system are improved; 2) the method is suitable for various connection topologies such as a network topology structure, a bus topology and the like, and has wide practicability; 3) the method is suitable for distributed cooperative control among heterogeneous robots, and is suitable for thrustor robots and reaction flywheel robots.
Drawings
FIG. 1: topology probing and updating data connection relationships
FIG. 2: control parameter initialization data connection relation
FIG. 3: robot information interaction and parameter update
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the method comprises the following steps that N robots are assumed to exist in a system, each robot has a unique identity ID, the set of the IDs of all the robots is X, and the defined ID is 0 and is an illegal identity; let the identity be IDiRobot i, having at most niAn interface, niThe number is more than or equal to 1, and the specific number is determined by the structural design of the robot. The robot i records the ID list of all the connected robots in the system and records the ID list as
Wherein each element represents an interface 1 to an interface n of the robot iiThe ID value of the connected robot, the initial value is 0.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
the method comprises the following steps: connection topology probing and updating
The purpose of this step is to establish connection with the adjacent robot by probing the adjacent robot, and update the connection relation at regular time. This step is performed continuously in a timed loop.
Each robot j belongs to X and performs connection topology detection and updating every T seconds, wherein T is more than or equal to D delta T, D is the diameter of an undirected graph of the multi-robot link topology and is determined by the robot network topology; and delta t is the time interval of information interaction between the robots, and each robot needs to actively send connection detection information or reply the connection detection information of the adjacent robots.
Wherein, the process of actively sending the connection detection information by the robot j is (1), and the process of replying the connection detection information of the adjacent robot is (2):
(1) the robot j actively sends connection detection information to the adjacent robots: sending connection request through all data interfaces of the robot, wherein the transmitted information at least comprises the identification ID of the robotjThe specific method is a network communication field communication method, which is not described in detail. If the interface p of the robot j (p is more than or equal to 1 and less than or equal to n)j) Receiving the connection detection information replied by the adjacent robot, and setting the identifier of the robot connected with the interface p contained in the connection detection information as IDkThen let ljp＝IDk(ii) a If the interface p (1 is more than or equal to p and less than or equal to n)j) If the reply is not received, it means that the interface p is not connected with the robot or the connected robot is invalid, and let ljp＝0。
(2) And the robot j replies the connection detection information of the adjacent robot: if the interface r of the robot j receives the connection detection information of the adjacent robot, the ID of the robot connected with the interface r contained in the connection detection information is readkLet Ljr＝IDkAnd replies the connection detection information of the interface r.
Step two: control parameter initialization
The purpose of this step is to receive ground remote control commands and gradually update the control expectation values of all robots through information interaction between the robots.
The set of all robots capable of receiving ground remote control commands is set as CcomSet size Ncom(1≤Ncom≤N)。
For all robot IDsl∈CcomWhich receives the expected attitude σ sent by the ground measurement and control stationdRecording the reception time Tl。
The robot L connects the list L according to the information thereoflWill σdAnd TlIs sent to LlAll neighboring robots. A certain adjacent robot is not set as m, and the robot m receives the sigmadAnd TlThen, T is comparedlAnd Tm。
If Tl＞TmIf yes, then update the recorded sigmadLet Tm＝TlAnd will bedAnd an update time TmFurther forwarding to all adjacent robots except the robot l; otherwise, it is ignored.
Step three: calculating control moment
All robots perform control moment calculation, for robot IDξ∈ X, which uses sensors to measure the attitude σ of the spacecraft expressed by the modified Rodrigues parameterξ∈R3Angular velocity omegaξ∈R3And angular acceleration
Calculating the control torque according to the self measurement data and the control parameters:
each robot control parameter is three groups:
including parameters
Parameter Dξ＝diag(ξ1,ξ2,ξ3)、Kξ＝diag(κξ1,κξ2,κξ3) Wherein
ξ1,ξ2,ξ3≥0，κξ1,κξ2,κξ3And if the initial values of the control parameters of all the robots are consistent, updating in a step five. According to the control parameter Jξ、Dξ、KξAnd the desired attitude σdCalculating control moment τ of robot ξξThe calculation method is as follows:
wherein sigmaeIn order to correct the attitude error under the representation of the Rodris parameter, the method is an industry-recognized method, which does not belong to the content of the invention, and the specific expression is as follows:
step four: parametric scale factor calculation
Each robot calculates its own parameter scale factor according to its own residual energy, for robot IDζ∈ X, parameter scale factor Wζ＝[Wζ1Wζ2Wζ3]Wherein each element has a value range of [ 01 ]]. The specific calculation method is as follows:
(1) if the zeta executor of the robot is a thruster, the calculation of the residual propellant can adopt one of the following two formulas (3) and (4)
Wherein A is a constant and has a value range of 3-100; b is a constant, and the value range is 1-10; e.g. of the typeζFor the remaining propellant mass of the robot, efullThe total amount of the robot fuel storage tank.
(2) If the zeta executor of the robot is three orthogonally installed reaction flywheels, the residual energy can be calculated by one of the following two formulas (5) and (6)
Wherein r isζ1、rζ2、rζ3The rotating speeds of the three reaction flywheels of the robot are respectively zeta; r isfullIs the saturation speed of flywheel αζ1，αζ2，αζ3Respectively calculated by the following formula
Wherein
TζAnd configuring a matrix for the zeta flywheel of the robot, wherein the matrix represents a rotation matrix of a flywheel rotation axis coordinate system and an inertia coordinate system, and the method is a method generally known in the industry and is not described any more.
Step five: control parameter update
All robots regularly update control parameters and parameter scale factors with adjacent robots
Case 1: robot
The specific way of actively sending information is as follows:
robot
According to
And the recorded IDs of the adjacent robots sequentially exchange data with the robots connected with the adjacent robots:
step (1): q is 1;
step (2): judgment of
A value of, if
Jumping to the step (3); if it is
Suppose that
Presentation robot
The interface q is connected with the robot pi, and the robot
Will be provided with
Sending the data to the robot pi, and the robot pi replies the W of the robot piπ，
π1,π2,π3，κπ1,κπ2,κπ3And (4) data. Robot after finishing information interaction
And the robot pi updates the parameter scale factor and the control parameter thereof according to the following formulas
And (3): q ═ q +1 if
And returning to the step three, otherwise, performing the step (2).
Case 2: robot
And (3) receiving the information of the adjacent robot, wherein the processing mode is consistent with the processing step of the robot pi in the step (2).
And returning to the third step after the step is executed.
Claims (3)
1. A distributed cooperative operation method of a multi-space robot is characterized in that: the system comprises N robots, each robot has a unique identity ID, the set of the IDs of all the robots is X, and the defined ID is 0 and is an illegal identity; let the identity be IDiThe robot of (1) is a robot i; the robot i records the ID list of all the connected robots in the system and records the ID list as
Wherein each element represents an interface 1 to an interface n of the robot iiThe initial value of the ID value of the connected robot is 0; the operation steps are as follows:
step 1, connection topology detection and updating: each robot j belongs to X and performs connection topology detection and updating every T seconds, wherein T is more than or equal to D delta T, D is the diameter of an undirected graph of the multi-robot link topology and is determined by the robot network topology; delta t is the time interval of information interaction between the robots, and each robot actively sends connection detection information or replies the connection detection information of adjacent robots;
the process of the robot j actively sending the connection detection information:
the robot j adopts a network communication field identification method to send a connection request through all data interfaces of the robot, and the transmitted information comprises the identification ID of the robotj(ii) a If the interface p of the robot j is more than or equal to 1 and less than or equal to njReceiving the connection detection information replied by the adjacent robot, reading the ID of the robot connected with the interface p contained in the connection detection informationkThen let ljp＝IDk(ii) a If the interface p does not receive the reply, it means that the interface p is not connected with the robot or the connected robot is invalid, and let ljp＝0；
The process of replying the connection detection information of the adjacent robot comprises the following steps:
the interface r of the robot j receives the connection detection information of the adjacent robot, reads the ID of the robot connected with the interface r contained in the connection detection informationkLet Ljr＝IDkAnd reply the connection detection information of oneself through the interface r; the interface r of the robot j receives the connection detection information of the adjacent robot, reads the ID of the robot connected with the interface r contained in the connection detection informationkLet Ljr＝IDkAnd reply the connection detection information of oneself through the interface r;
the step is executed continuously in a timing cycle;
step 2, initializing control parameters:
the set of all robots for receiving ground remote control commands is CcomSet size Ncom1≤Ncom≤N；
All robot IDl∈CcomReceiving expected attitude sigma sent by ground measurement and control stationdRecording the reception time Tl；
The robot L connects the list L according to the information thereoflWill σdAnd TlIs sent to LlAll neighboring robots m in (1), robot m receives σdAnd TlThen, T is comparedlAnd Tm；
If Tl＞TmIf yes, then update the recorded sigmadLet Tm＝TlAnd will bedAnd an update time TmFurther forwarding to all adjacent robots except the robot l; otherwise, ignoring;
and 3, calculating the control moments of all the robots:
robot IDξ∈ X use sensors to measure spacecraft attitude σ in terms of modified rodgers parametersξ∈R3Angular velocity omegaξ∈R3And angular acceleration
Each robot control parameter is three groups:
including parameters
Parameter Dξ＝diag(ξ1,ξ2,ξ3)、Kξ＝diag(κξ1,κξ2,κξ3) Wherein
ξ1,ξ2,ξ3≥0，κξ1,κξ2,κξ3If the initial values of the control parameters of all the robots are more than 0, the initial values of the control parameters of all the robots are set to be consistent, and the control parameters are updated in step 5; according to the control parameter Jξ、Dξ、KξAnd the desired attitude σdCalculating control moment τ of robot ξξThe calculation method is as follows:
wherein: sigmaeCorrecting attitude errors under the representation of the Rodris parameter;
step 4, calculating parameter scale factors:
each robot calculates its own parameter scale factor according to its own residual energy, for robot IDζ∈ X, parameter scale factor Wζ＝[Wζ1Wζ2Wζ3]Wherein each element has a value range of [ 01 ]]The calculation method is as follows:
case 1: if the zeta executor of the robot is a thruster, the residual propellant is calculated as:
wherein: a is a constant and has a value range of 3-100; b is a constant, and the value range is 1-10; e.g. of the typeζFor the remaining propellant mass of the robot, efullFor robot fuel storageThe total amount of bins;
case 2: if the zeta executor of the robot is three reaction flywheels which are installed in an orthogonal mode, the residual energy is calculated as follows:
wherein: r isζ1、rζ2、rζ3The rotating speeds of the three reaction flywheels of the robot are respectively zeta; r isfullIs the saturation speed of flywheel αζ1，αζ2，αζ3Calculated using the following formula, respectively:
wherein:
Tζconfiguring a matrix for a zeta flywheel of the robot, wherein the matrix represents a rotation matrix of a flywheel rotation axis coordinate system and an inertia coordinate system;
and 5, updating control parameters:
all robots regularly update control parameters and parameter scale factors with adjacent robots
Case 1: robot
The specific way of actively sending information is as follows:
robot
According to
Recorded neighboring robot IDs, in turn, therewithThe connected robots exchange data:
step (1): q is 1;
step (2): judgment of
A value of, if
Jumping to the step (3); if it is
Suppose that
Presentation robot
The interface q is connected with the robot pi, and the robot
Will be provided with
Sending the data to the robot pi, and the robot pi replies the W of the robot piπ，
π1,π2,π3，κπ1,κπ2,κπ3Data; robot after finishing information interaction
And a machineThe human pi respectively updates the self parameter scale factor and the control parameter according to the following formula
And (3): q is q +1, if
Returning to the step 3, otherwise, performing the step (2);
case 2: robot
Receiving information of adjacent robots, wherein the processing mode is consistent with the processing step of the robot pi in the step (2);
and returning to the step 3 after the step is executed.
2. The distributed cooperative operation method of a multi-space robot according to claim 1, characterized in that: case 1 in step 4: if the zeta executor of the robot is a thruster, the residual propellant is calculated as:
wherein: b is a constant, and the value range is 1-10; e.g. of the typeζFor the remaining propellant mass of the robot, efullThe total amount of the robot fuel storage tank.
3. The distributed cooperative operation method of a multi-space robot according to claim 1, characterized in that: case 2 in step 4: if the zeta executor of the robot is three reaction flywheels which are installed in an orthogonal mode, the residual energy is calculated as follows:
wherein: r isζ1、rζ2、rζ3The rotating speeds of the three reaction flywheels of the robot are respectively zeta; r isfullIs the saturation speed of flywheel αζ1，αζ2，αζ3Calculated using the following formula, respectively:
wherein:
Tζa matrix is configured for the zeta flywheel of the robot, and the matrix represents a rotation matrix of a flywheel rotation axis coordinate system and an inertia coordinate system.
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