CN114895554A - Multi-space-sky-vehicle cooperative trajectory tracking control method and device under time-varying communication - Google Patents
Multi-space-sky-vehicle cooperative trajectory tracking control method and device under time-varying communication Download PDFInfo
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Abstract
The invention discloses a multi-space spacecraft collaborative trajectory tracking control method and a device under time-varying communication, which are used for integrating classical control and adaptive control theory from the aspects of ensuring the rapidity of system parameter adjustment and the robustness of coping interference and uncertainty, and providing a spacecraft trajectory tracking control strategy based on the improved L1 adaptive control method; a set of complete aircraft trajectory tracking control problem solving framework is provided, the problem is decoupled into an inner control loop and an outer control loop, a cooperative control strategy with strong robustness is generated, an L1 adaptive control improvement method is applied to stability augmentation control of a speed control loop to deal with communication limitation, safety is guaranteed, and collision is avoided.
Description
Technical Field
The invention relates to an aircraft trajectory tracking method, in particular to a multi-space-sky aircraft cooperative trajectory tracking control method and device under time-varying communication.
Background
The multi-agent system has great advantages in various tasks and is widely applied: ground aircraft cooperative control, aviation formation, underwater robot formation, clustering and the like. The problem of multi-agent cooperative control is a research focus. China has successfully established a national space station, and the expansion of strategic space brings new problems, namely, under the condition of an outer space task, a single aircraft is not suitable for some tasks, and at this time, a plurality of aircraft are required to form a formation to complete the tasks.
Disclosure of Invention
The present invention has been made to solve the above-mentioned problems occurring in the prior art. The invention relates to a multi-space-sky-vehicle cooperative track tracking control method and a multi-space-sky-vehicle cooperative track tracking control device under time-varying communication, which can realize the cooperation of the whole cluster by adjusting the speed among multiple machines under the support of an inter-machine communication network, use a distributed robust cooperative control law based on a proportional-integral method, and respond to the speed oscillation phenomenon under the time-varying condition of a communication topological structure by improving the application of an L1 self-adaptive control method and the stability-increasing control of a speed control loop, thereby ensuring the stable consistency of the whole cooperative control closed-loop system.
The invention specifically adopts the following technical scheme:
according to a first aspect of the present invention, a cooperative trajectory tracking control method for a multi-space-vehicle under time-varying communication is provided, where the method includes:
a linear PID or a non-linear PID is added into an L1 self-adaptive control structure to improve the precision of instruction tracking and eliminate time lag phenomenon in the tracking process;
the linear PID is represented as:
where u (t) is the input signal, K p Is a scaling factor, e (t) is a deviation signal, K i As an integral coefficient, K d In order to be the differential coefficient,
is the derivative of the deviation signal;
the nonlinear PID is represented as:
where u (t) is the input signal, K p Is a proportionality coefficient, K i As an integral coefficient, e 0 (t)、e 1 (t)、e 2 (t) deviation signals respectively transmitted by the three channels;
giving a spatial track which can be flown by a flying object as a desired spatial track;
and controlling the flyer to converge to the expected space trajectory on the premise of meeting specific constraint conditions.
According to a second aspect of the present invention, there is provided a cooperative tracking control apparatus for multi-space vehicles under time varying communication, the apparatus comprising an L1 adaptive control structure and a trajectory generation module, the L1 adaptive control structure comprising a linear PID or a non-linear PID;
the linear PID is represented as:
where u (t) is the input signal, K p Is a scaling factor, e (t) is a deviation signal, K i As an integral coefficient, K d In order to be the differential coefficient,
is the derivative of the deviation signal;
the nonlinear PID is represented as:
where u (t) is the input signal, K p Is a proportionality coefficient, K i As an integral coefficient, e 0 (t)、e 1 (t)、e 2 (t) deviation signals respectively transmitted by the three channels;
the trajectory generation module is configured to give a spatial trajectory in which a flying object can fly as a desired spatial trajectory;
the L1 adaptive control structure is configured to control the flyer to converge to the desired spatial trajectory on the premise that certain constraints are met.
According to the multi-space spacecraft collaborative trajectory tracking control method and device under time-varying communication in each scheme, formation collaborative control of space multi-space spacecraft is firstly provided, and an improvement method based on L1 adaptive control is firstly provided.
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In the drawings, which are not necessarily drawn to scale, like reference numerals may describe similar components in different views. Like reference numerals having alphabetic suffixes or different alphabetic suffixes may represent different instances of similar components. The drawings illustrate various embodiments, by way of example and not by way of limitation, and together with the description and claims, serve to explain the inventive embodiments. The same reference numbers will be used throughout the drawings to refer to the same or like parts, where appropriate. Such embodiments are illustrative and not intended to be exhaustive or exclusive embodiments of the present apparatus or method.
Fig. 1 is a closed loop structure diagram of an improved L1 adaptive control system.
Figure 2 is a non-linear PID controller architecture.
FIG. 3 is a framework diagram of a multi-flight object collaborative trajectory tracking problem.
Fig. 4 is a block diagram of a speed stability augmentation control loop.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following detailed description of embodiments of the invention is provided in connection with the accompanying drawings and the detailed description of embodiments of the invention, but is not intended to limit the invention. The order in which the various steps described herein are described as examples should not be construed as a limitation if there is no requirement for a context relationship between each other, and one skilled in the art would know that sequential adjustments may be made without destroying the logical relationship between each other, rendering the overall process impractical.
The embodiment of the invention provides a cooperative trajectory tracking control method for a multi-space spacecraft under time-varying communication. The method firstly improves the existing L1 adaptive control method. The core idea of L1 adaptive control is to decouple the adaptive loop from the control loop by introducing a low-pass filter in the control loop, so that the system can adapt quickly to uncertain changes in parameters or disturbances without sacrificing robustness. According to the invention, a nonlinear PID controller is added in an L1 self-adaptive control structure to improve the precision of instruction tracking and eliminate time lag phenomenon in the tracking process, and meanwhile, the improved L1 method is improved in transient performance compared with the original method, so that the practicability of the method is further enhanced. The closed loop architecture of the improved L1 adaptive control system is shown in fig. 1.
In the embodiment, a linear/nonlinear PID (proportion integration differentiation) term is added into an L1 adaptive control structure to improve the instruction tracking precision and eliminate the time lag phenomenon in the tracking process.
Linear PID:
where u (t) is the input signal, K p Is a scaling factor, e (t) is a deviation signal, K i As an integral coefficient, K d In order to be the differential coefficient,
is the derivative of the deviation signal;
nonlinear PID:
where u (t) is the input signal, K p Is a proportionality coefficient, K i As an integral coefficient, e 0 (t)、e 1 (t)、e 2 And (t) deviation signals respectively transmitted by three channels.
The non-linear PID controller structure is shown in fig. 2.
Based on the improved L1 self-adaptive control structure, a spatial track which can be flown by the flyer is given as an expected spatial track by adopting a track generation algorithm, and the flyer is made to converge to the expected spatial track generated in the first part as fast as possible on the premise that a specific constraint condition is met.
Defining a trajectory tracking problem: for a given aircraft, pitch rate q (t), yaw rate r (t), and virtual target forward speed are designed to meet the feasible constraint
Such that all closed loop system signals are bounded and the trajectory tracking error vector x pf Converging to zero.
The above description can be understood as an aircraft trajectory tracking control strategy based on an improved L1 adaptive control method, the control strategy defines a flight object trajectory tracking problem on a kinematic level, defines a controlled target and an object, decomposes the aircraft trajectory tracking control problem into an inner loop and an outer loop, and designs an outer loop guide control law based on a dynamic inverse method and an aircraft inner loop adaptive stability augmentation controller based on an improved L1 adaptive control method respectively.
Defining a multi-machine collaborative trajectory tracking problem: as shown in FIGS. 3 and 4, given n aircraft and desired spatial trajectory p d,i (t d ) And the communication among the aircrafts is supported by an inter-aircraft communication network, and feedback control laws of pitch rate q (t), yaw rate r (t) and speed v (t) are designed for all aircrafts, and the feedback control laws meet the following requirements:
(1) all closed loop signals are bounded;
(2) for each aircraft i, j ═ 1.., n, the trajectory tracking error vector converges to zero;
(3) synergy error l' for any two aircraft i and j, i, j ═ 1. i -l′ j And rate of change of collaborative state
Converge to zero and ensure that the time constraints of the tasks are met;
the distributed cooperative control rate is expressed as:
wherein the aircraft n l N is less than or equal to n is selected as a virtual long machine, k p And k I Is a positive cooperative control gain that is,
is cooperative control law, < l >' i (t) is the rate of change of the ith synergistic state, < l >' j (t) is the rate of change of the jth synergistic state,/ fi Is the total path length of the ith aircraft, v d，i Is the desired speed, χ, of the ith aircraft I，i (t) is the sum of the distances between the ith aircraft and the adjacent aircraft,
is the derivative of the sum of the distances of the ith aircraft from its neighbors.
The multi-aircraft cooperative track tracking control strategy considering the communication topology time-varying constraint not only describes the problem as the classical consistency problem in the robot field, deduces and establishes a cooperative control problem model, but also designs a distributed robust cooperative control law based on a proportional-integral method, and when aiming at the speed oscillation phenomenon occurring under the communication topology time-varying condition, the L1 self-adaptive control method is applied and the stability-increasing control of a speed control loop is improved, so that the stable consistency of the whole cooperative control closed-loop system is ensured.
The embodiment of the invention also provides a cooperative track tracking control device of the multi-space spacecraft under time-varying communication, which is characterized by comprising an L1 self-adaptive control structure and a track generation module, wherein the L1 self-adaptive control structure comprises a linear PID or a non-linear PID;
the linear PID is represented as:
where u (t) is the input signal, K p Is a scaling factor, e (t) is a deviation signal, K i As an integral coefficient, K d In order to be the differential coefficient,
is the derivative of the deviation signal;
the nonlinear PID is represented as:
where u (t) is the input signal, K p Is a proportionality coefficient, K i As an integral coefficient, e 0 (t)、e 1 (t)、e 2 And (t) deviation signals respectively transmitted by three channels.
The trajectory generation module is configured to give a spatial trajectory in which a flying object can fly as a desired spatial trajectory;
the L1 adaptive control structure is configured to control the flyer to converge to the desired spatial trajectory on the premise that certain constraints are met.
In some embodiments, the trajectory generation module is further configured to give a spatial trajectory in which the flight can fly as the desired spatial trajectory by a trajectory generation algorithm.
In some embodiments, the L1 adaptive control structure is further configured to: for a given aircraft, pitch rate q (t), yaw rate r (t), and virtual target forward speed are designed to meet the feasible constraint
Such that all closed loop system signals are bounded and the trajectory tracking error vector x pf Converging to zero.
In some embodiments, the L1 adaptive control structure is further configured to:
defining a multi-machine collaborative trajectory tracking problem: given n aircraft and a desired spatial trajectory p d,i (t d ) And the communication among the aircrafts is supported by an inter-aircraft communication network, and feedback control laws of pitch rate q (t), yaw rate r (t) and speed v (t) are designed for all aircrafts, and the feedback control laws meet the following requirements:
(1) all closed loop signals are bounded;
(2) for each aircraft i, j ═ 1.., n, the trajectory tracking error vector converges to zero;
(3) synergy error l' for any two aircraft i and j, i, j ═ 1. i -l′ j And rate of change of collaborative state
Converge to zero and ensure that the time constraints of the tasks are met;
the distributed cooperative control rate is expressed as:
wherein the aircraft n l N is less than or equal to n is selected as a virtual long machine, k p And k I Is a positive cooperative control gain that is,
is cooperative control law, < l >' i (t) is the rate of change of the ith synergistic state, < l >' j (t) is the rate of change of the jth synergistic state,/ fi Is the total path length, v, of the ith aircraft d，i Is the desired speed, χ, of the ith aircraft I，i (t) is the sum of the distances between the ith aircraft and the adjacent aircraft,
is the derivative of the sum of the distances of the ith aircraft from its neighbors.
The device described in the embodiment of the present invention belongs to the same technical idea as the method described in the foregoing, and can achieve the same technical effect, which is not described herein again.
Moreover, although exemplary embodiments have been described herein, the scope thereof includes any and all embodiments based on the present invention with equivalent elements, modifications, omissions, combinations (e.g., of various embodiments across), adaptations or alterations. The elements of the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive. It is intended, therefore, that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.
The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other. For example, other embodiments may be used by those of ordinary skill in the art upon reading the above description. In addition, in the above-described embodiments, various features may be grouped together to streamline the disclosure. This should not be interpreted as an intention that features of an invention not claimed are essential to any of the claims. Rather, inventive subject matter may lie in less than all features of a particular inventive embodiment. Thus, the following claims are hereby incorporated into the detailed description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that these embodiments may be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
Claims (8)
1. A multi-space-vehicle cooperative trajectory tracking control method under time-varying communication is characterized by comprising the following steps:
a linear PID or a non-linear PID is added into an L1 self-adaptive control structure to improve the precision of instruction tracking and eliminate time lag phenomenon in the tracking process;
the linear PID is represented as:
where u (t) is the input signal, K p Is a scaling factor, e (t) is a deviation signal, K i Is the integral coefficient, K d In order to be the differential coefficient,
is the derivative of the deviation signal;
the nonlinear PID is represented as:
wherein u (t) isInput signal, K p Is a proportionality coefficient, K i As an integral coefficient, e 0 (t)、e 1 (t)、e 2 (t) deviation signals respectively transmitted by the three channels;
giving a spatial track which can be flown by a flying object as a desired spatial track;
and controlling the flyer to converge to the expected space trajectory on the premise of meeting specific constraint conditions.
2. The method according to claim 1, characterized in that a spatial trajectory in which the flight can fly is given as the desired spatial trajectory by a trajectory generation algorithm.
3. The method of claim 1, wherein controlling the flying object to converge to the desired spatial trajectory on the premise that certain constraints are met comprises:
for a given aircraft, pitch rate q (t), yaw rate r (t), and virtual target forward speed are designed to meet the feasible constraint
Such that all closed loop system signals are bounded and the trajectory tracking error vector x pf Converging to zero.
4. The method of claim 1 or 3, wherein the controlling the flying object to converge to the desired spatial trajectory on the premise that certain constraints are met, comprises:
given n aircraft and a desired spatial trajectory p d,i (t d ) And the communication among the aircrafts is supported by an inter-aircraft communication network, and feedback control laws of pitch rate q (t), yaw rate r (t) and speed v (t) are designed for all aircrafts, and the feedback control laws meet the following requirements:
(1) all closed loop signals are bounded;
(2) for each aircraft i, j ═ 1.., n, the trajectory tracking error vector converges to zero;
(3) synergy error l' for any two aircraft i and j, i, j ═ 1. i -l′ j And rate of change of collaborative state
Converge to zero and ensure that the time constraints of the tasks are met;
the distributed cooperative control rate is expressed as:
wherein the aircraft n l N is less than or equal to n is selected as a virtual long machine, k p And k I Is a positive cooperative control gain that is,
is cooperative control law, < l >' i (t) is the rate of change of the ith synergistic state, < l >' j (t) is the rate of change of the jth synergistic state,/ fi Is the total path length of the ith aircraft, v d，i Is the desired speed, x, of the ith aircraft I，i (t) is the sum of the distances between the ith aircraft and the adjacent aircraft,
is the derivative of the sum of the distances of the ith aircraft from its neighbors.
5. A multi-space-vehicle cooperative track tracking control device under time-varying communication is characterized by comprising an L1 adaptive control structure and a track generation module, wherein the L1 adaptive control structure comprises a linear PID or a non-linear PID;
the linear PID is represented as:
where u (t) is the input signal, K p Is a scaling factor, e (t) is a deviation signal, K i Is the integral coefficient, K d In order to be the differential coefficient,
is the derivative of the deviation signal;
the nonlinear PID is represented as:
where u (t) is the input signal, K p Is a proportionality coefficient, K i As an integral coefficient, e 0 (t)、e 1 (t)、e 2 (t) deviation signals respectively transmitted by the three channels;
the trajectory generation module is configured to give a spatial trajectory in which a flying object can fly as a desired spatial trajectory;
the L1 adaptive control structure is configured to control the flyer to converge to the desired spatial trajectory on the premise that certain constraints are met.
6. The apparatus of claim 1, wherein the trajectory generation module is further configured to give a spatial trajectory in which the flying object may fly as the desired spatial trajectory through a trajectory generation algorithm.
7. The apparatus of claim 5, wherein the L1 adaptive control structure is further configured to:
for a given aircraft, pitch rate q (t), yaw rate r (t), and virtual target forward speed are designed to meet the feasible constraint
Such that all closed loop system signals are bounded and the trajectory tracking error vector x pf Converging to zero.
8. The apparatus of claim 5 or 7, wherein the L1 adaptive control structure is further configured to:
defining a multi-machine collaborative trajectory tracking problem: given n aircraft and a desired spatial trajectory p d,i (t d ) And the communication among the aircrafts is supported by an inter-aircraft communication network, and feedback control laws of pitch rate q (t), yaw rate r (t) and speed v (t) are designed for all aircrafts, and the feedback control laws meet the following requirements:
(1) all closed loop signals are bounded;
(2) for each aircraft i, j ═ 1.., n, the trajectory tracking error vector converges to zero;
(3) synergy error l' for any two aircraft i and j, i, j ═ 1. i -l′ j And rate of change of collaborative state
Converge to zero and ensure that the time constraints of the tasks are met;
the distributed cooperative control rate is expressed as:
wherein the aircraft n l N is less than or equal to n is selected as a virtual long machine, k p And k I Is a positive cooperative control gain that is,
is cooperative control law, < l >' i (t) is the rate of change of the ith synergistic state, < l >' j (t) is the rate of change of the jth synergistic state,/ fi Is the total path length of the ith aircraft, v d，i Is the desired speed, χ, of the ith aircraft I，i (t) is the sum of the distances between the ith aircraft and the adjacent aircraft,
is the derivative of the sum of the distances of the ith aircraft from its neighbors.
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