CN113485404B - Self-adaptive finite time control method of space tether combination system - Google Patents
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Abstract
The invention relates to a self-adaptive finite time control method of a space tether assembly system, belonging to the field of control over a tether spacecraft attitude connection pipe. Aiming at the factors such as internal uncertainty, external interference and the like of a rope system combination system, a novel integral terminal sliding mode surface is designed, and the limited time convergence and the strong robustness of the system state on the sliding mode surface are ensured; then designing an adaptive law based on the sliding mode surface; finally, the advantages of the self-adaptive technology are combined, the self-adaptive finite time controller based on the integral terminal sliding mode is designed, the influence of various uncertainties and buffeting inherent in the traditional sliding mode control is solved, and the high-precision finite time attitude stable control of the rope system combination body is realized.
Description
Technical Field
The invention relates to a finite time control method of a rope system combination system after non-cooperative target capture, and belongs to the field of control over the attitude take-over of a rope system spacecraft.
Background
In recent years, the aerospace major countries have conducted a great deal of research on the capture of space cooperative targets and have achieved a series of great results, but the control theory and technology for the capture of unstable uncooperative targets are still incomplete.
The space tether trapper is a novel space combination body formed by connecting a platform and a target spacecraft through a flexible tether, has the outstanding advantages of high safety, strong flexibility and the like, and is an effective tool for realizing unstable uncooperative target trapping. After the space rope-based spacecraft catches the unstable target, the space rope-based spacecraft and the target form a space rope-based combination body which is in a high-speed rotation unstable state, and the stable control of the posture of the space rope-based spacecraft is a precondition and an important guarantee for carrying out subsequent fine operations such as track garbage cleaning, dragging removal and the like.
At present, some experts and scholars have studied attitude control methods for spatial tether assemblies. For example, wang Biheng et al (chinese patent with application number CN 202110000112.7) have studied a stable control problem of the combined system by using a biased tether swing rod, and designed an effective layered sliding mode control law; luying wave et al (chinese patent with application number CN 201710567822.1) combines sliding mode control and dynamic plane technology to provide a self-adaptive neural network dynamic plane control method to ensure the stable posture of the tether assembly. However, the above scheme can only ensure that the attitude of the system is asymptotically stable, and does not consider the requirement for rapidity in the attitude stabilization control process. Because the real-time requirement of the rope system combination body on the attitude takeover control is high, a finite time control scheme with stronger immunity, faster convergence speed and higher control precision needs to be researched urgently; in addition, the strong coupling nonlinear characteristic of the combined system and the existence of unmodeled dynamic and space environment disturbance factors of the system also bring great challenges to the design of a control scheme; therefore, it is necessary to design a self-adaptive finite-time attitude control method for a space tether system with fast response and high precision, and the method becomes a research focus in the field of space tether spacecrafts.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a quick attitude connection control method of a combination system after the space tethered spacecraft is caught.
Technical scheme
An adaptive finite time control method of a space tether system, characterized in that:
step 1: firstly, establishing an integral terminal sliding mode surface s for a posture tracking error:
in the above formula, s ═ s 1 ,s 2 ,s 3 ] T ∈R 3 ,c 1 And c 2 Is a positive number of design, 0 < mu 2 < 1 and
defining continuous vectors
Where sign () is a sign function; e ═ e 1 ,e 2 ,e 3 ] T Is the tracking error;
and 2, step: designing an adaptive law according to an integral terminal sliding mode surface s:
middle chi of the upper formula ji > 0 and n 1i ,n 2i All designed positive numbers, j is 1,2,3, 4; i is 1,2, 3; adaptive variables
And
are respectively used to estimate psi i And
ψ i and
upper bound parameter a for respectively representing total uncertainty of space tether assembly system i And b i Square of (i.e.. psi i ＝a i 2 And
is the generalized state of the space tether assembly system;
and 3, step 3: designing a continuous self-adaptive finite time controller tau according to an integral terminal sliding mode surface s and a self-adaptation law, and applying the self-adaptive finite time controller tau to a dynamic model of the attitude of the combined system to realize accurate and high-performance control on the attitude of the combined system:
τ＝-k 1 s-k 2 sig ω (s)-u a s-f 3
wherein k is 1 ,k 2 ＞0，0＜ω＜1，sig ω (s)＝[sign(s 1 )|s 1 | ω ,sign(s 2 )|s 2 | ω ,sign(s 3 )|s 3 |ω] T ，
Controller adaptation part
To estimate the impact of the total uncertainty of the system, its components are:
Advantageous effects
The invention provides a self-adaptive finite time control method of a space rope system combination system, aiming at the factors of internal uncertainty, external interference and the like of the rope system combination system, a novel integral terminal sliding mode surface is designed, and the finite time convergence and the strong robustness of the system state on the sliding mode surface are ensured; and then, by combining the advantages of the self-adaptive technology, a self-adaptive finite time controller based on an integral terminal sliding mode is designed, the influence of various uncertainties and buffeting inherent in the traditional sliding mode control is solved, and the high-precision finite time attitude stable control of the rope system combination is realized. Compared with the prior art, the invention has the following beneficial effects:
1) designing a novel integral terminal sliding mode surface and a self-adaptive control scheme, and solving the problems of limited time and high-precision attitude stability control of a rope system after non-cooperative target capture;
2) the novel self-adaptive technology is provided, so that the total uncertainty of the combined system can be quickly and accurately estimated;
3) and by adopting a continuous control scheme, the buffeting problem existing in the traditional sliding mode control scheme can be solved.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Figure 1 shows a coordinate system definition diagram of a rope system combination system after capture.
FIG. 2 is a block diagram of adaptive finite time attitude control for a combined system.
Fig. 3 is an effect diagram of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The technical scheme adopted by the invention comprises the following steps:
1) establishing an attitude kinetic equation of the captured space rope system assembly system;
2) designing a novel integral terminal sliding mode surface with strong robustness and limited time convergence characteristics;
3) designing a self-adaptive finite time controller to realize the stable control of the attitude of the combined system;
4) baggage Jaconov stability certification is performed for the designed controller for the system.
The method comprises the following steps of 1) establishing an attitude kinetic equation of the caught rope system combination system; FIG. 1 is a graph of a tether assembly system after target capture. Wherein O-XYZ is an inertial coordinate system taking the geocenter as an origin; o is 0 -X 0 Y 0 Z 0 For an orbital coordinate system with the system centroid as the origin, O 0 Y 0 In the tangential direction of movement of the system, O 0 X 0 In a direction away from the center of the earth; α and β represent the in-plane and out-of-plane angles of the tether, respectively. During modeling, three factors such as the internal angle alpha of the tether surface, the external angle beta of the tether surface and the tether length l of the captured assembly are considered.
From the Euler-Lagrange equation, the kinetic equation for a spatial tether assembly can be found as follows:
in the above formula
Denotes the sine function sin (·)，
Is the cosine function cos (·),
is the tangent function tan (·). q ═ α, β, l] T ∈R 3 For system generalized coordinates, F ═ F α ,F β ,T l ] T Is a generalized force. The total mass of the captured complex and the platform is
Wherein m is a Total mass of capture target and capture device, m b Is the platform mass. Ω is the track angular velocity. Considering the influence of uncertainty of platform quality and external interference after capture, the dynamic characteristics are arranged to obtain a dynamic equation of a general rope system combination system:
wherein the content of the first and second substances,
is the generalized state of the system (including the in-plane angle, the out-of-plane angle and the tether length), the velocity variable and the acceleration, and tau ═ F ∈ R 3 Representing generalized force, M (q) e R 3×3 In order to define the symmetric matrix positively,
is a matrix of Coriolis or centrifugal forces, G (q) e R 3 For moment of gravity, d ∈ R 3 Is an external disturbance. Considering the internal uncertainty of the system existence, the system matrix can be represented as M (q) ═ M 0 (q)+ΔM(q)，
And G (q) ═ G 0 (q) + Δ G (q). Wherein, Δ M (q),
and Δ g (q) are the uncertainties of the system, respectively, so the system equations can be converted to:
wherein, the first and the second end of the pipe are connected with each other,
is the total uncertainty of the system. To simplify writing, we will reduce the system state quantity to M in the following discussion 0 、C 0 And G 0 . Even if the system dynamics model (3) is strongly coupled non-linear, it still satisfies the following two properties and assumptions.
Properties 1.M and M 0 Are reversible symmetric positive definite matrices. And for any x ∈ R 3 The following inequality holds
m 1 x T x≤x T M 0 x≤m 2 x T x (4)
Wherein m is 1 And m 2 Are respectively M 0 Minimum and maximum eigenvalues of.
Property 2. matrix M 0 And C 0 Satisfy the requirements of
Assumption 1 Total uncertainty in System d ei Is bounded and the upper bound satisfies
|d ei |≤a i +b i ||ξ||i＝1,2,3 (5)
Wherein a is i ，b i Respectively, the parameters are unknown parameters, and the parameters are,
in addition, before the designed controller is given, the following relevant arguments are given:
lesion 1. for any x 1 ,x 2 ,x 3 E.g. R and real number
m＞1，n> 1, c > 0, then there is:
and
whereinmAndnsatisfy (a)m-1)(n-1)＝1。
Leapunov function V (x) if present and corresponding positive number λ 1 ,λ 2 σ and
satisfying the following form:
the equilibrium point is said to be practically time-limited stable. That is, the system state can be converged into the neighborhood near the equilibrium point within a finite time T, and the boundary value of the neighborhood is
And the convergence time is satisfied
Wherein
Is an arbitrary constant.
Defining a desired pose trajectory of the assembly as q d (t) tracking error e ═ q (t) -q d (t) of (d). The aim of the invention is to design a high-performance controller such that it is ensured that the state q (t) can track the reference trajectory q for a limited time in the presence of total uncertainty in the system d And (t), thereby realizing fast and high-precision attitude tracking control. According to definitionThe error dynamics model of the system can be expressed as:
and 2) designing a novel integral terminal sliding mode surface with strong robustness and limited time convergence characteristics. In order to realize the fast high-performance control of the system, a novel integral terminal sliding mode surface needs to be designed. The designed sliding mode surface expression is as follows:
in the above formula, s ═ s 1 ,s 2 ,s 3 ] T ∈R 3 ,c 1 And c 2 Is a positive number as designed. Mu is more than 0 2 < 1 and
defining continuous vectors
Where sign (·) is a sign function. When the system state is located in the sliding mode, it satisfies the following lemma.
And 3, considering the designed integral terminal sliding mode surface (7). If the system state moves on the slip-form surface, i.e.
The attitude tracking error will be in a limited time
Inner satisfies
Wherein c is T Is a normal number.
Based on an error dynamic model (6) and an integral terminal sliding mode surface (7) of the rope system combination body, the system dynamics can be obtained through coordinate conversion:
in the above formula, f 3 ＝f 1 +f 2 ，
And is
And 3) providing an adaptive finite time controller based on an integral terminal sliding mode. In order to realize high-precision attitude control of a combined system and eliminate a buffeting phenomenon, the following continuous self-adaptive finite time control law expression is designed:
τ＝-k 1 s-k 2 sig ω (s)-u a s-f 3 (9)
wherein k is 1 ,k 2 And s is an integral terminal sliding mode surface (7) when the angle is more than 0 and omega is more than 0 and less than 1. In addition, the controller adapts part
To estimate the impact of the total uncertainty of the system, its components are:
the designed self-adaptation law is
Middle x of the above formula ji > 0(j ═ 1,2,3, 4; i ═ 1,2,3) and n 1i ,n 2i Are all providedA positive number is counted. Adaptive variable
And
are respectively used to estimate psi i And
ψ i and
respectively representing the upper bound parameter a of the total uncertainty of the system i And b i Is squared, i.e.
And
the adaptive laws (11) and (12) in the controller (9) avoid the use of a sign function in the controller by estimating the square of an upper bound parameter of the total uncertainty of the system, so that the buffeting problem inherent in the traditional sliding mode control can be effectively avoided. FIG. 2 is a block diagram of adaptive finite time attitude control for a combined system. In the block diagram, firstly, an integral terminal sliding mode surface (7) is established for the attitude tracking error, and then adaptive laws (11) and (12) are designed based on the sliding mode surface; on the basis, a continuous self-adaptive finite time controller (9) is designed, and accurate and high-performance control over the attitude of the combined system is realized. In addition to this, the present invention is,
and
defined as the parameter estimation error. In combination with the proposed continuous adaptive finite time controller (9) and the integrating terminal sliding mode surface (7), the error dynamics system (8) is converted into
Wherein
And 4) carrying out the Yaponov stability verification on the closed-loop system. Defining the candidate Lyapunov function expression as:
the Lyapunov function is derived along the error system track (13) to obtain
For any theta, from the Young inequality
Based on the inequality, the adaptive laws (11) and (12) are substituted for the equation (15) to know
Consider theorem 1 and the inequality
Can be converted into
In the above formula, the first and second carbon atoms are,
and
from lemma 2, system state s i Will be in a limited time
Inner convergence to small domain
Therein, wherein
Is an arbitrary constant. Furthermore, parameters are available according to a consistent bounded theorem
Is consistent and ultimately bounded, meaning that
Is also bounded. Without loss of generality, we assume
Wherein delta 2i Is a constant. By
Can obtain
Can be converted into
When the temperature is higher than the set temperature
The above equation can maintain the form of the integral terminal sliding mode surface (7). According to lemma 3, attitude tracking error e i Can ensure the limited time convergence characteristic and can be provided withTime limit T 2 ＝T 1 +T s Inner convergence to small domain
And (4) the following steps. Similarly, we can obtain the rate of change of attitude tracking error
Convergence to a small domain within a limited time
And (4) the following steps. Thus, the stability of the system was demonstrated.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (1)
1. An adaptive finite time control method of a space tether system, which is characterized in that:
step 1: firstly, establishing an integral terminal sliding mode surface s for a posture tracking error:
in the above formula, s ═ s 1 ，s 2 ，s 3 ] T ∈R 3 ，c 1 And c 2 For positive numbers designed, 0 < mu 2 < 1 and
defining continuous vectors
Where sign (·) is a sign function; e ═ e 1 ，e 2 ，e 3 ] T Is a tracking error;
and 2, step: designing an adaptive law according to an integral terminal sliding mode surface s:
middle chi of the upper formula ji > 0 and n 1i ，n 2i Are all positive numbers as designed, j is 1,2,3, 4; i is 1,2, 3; adaptive variables
And
are respectively used to estimate psi i And
ψ i and
upper bound parameter a for respectively representing total uncertainty of space tether assembly system i And b i Is squared, i.e.
And
the generalized state of the space rope system combination system;
and step 3: designing a continuous self-adaptive finite time controller tau according to an integral terminal sliding mode surface s and a self-adaptive law, and applying the self-adaptive finite time controller tau to a dynamic model of the attitude of the combined system to realize the accurate and high-performance control of the attitude of the combined system:
τ＝-k 1 s-k 2 sig ω (s)-u a s-f 3
wherein k is 1 ，k 2 ＞0，0＜ω＜1，sig ω (s)＝[sign(s 1 )|s 1 | ω ，sign(s 2 )|s 2 | ω ，sign(s 3 )|s 3 | ω ] T ，
Controller adaptation part
To estimate the impact of the total uncertainty of the system, its components are:
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