CN115808881A - On-orbit quality estimation method and self-adaptive control method for drag-free satellite - Google Patents
On-orbit quality estimation method and self-adaptive control method for drag-free satellite Download PDFInfo
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Abstract
The invention relates to the technical field of aerospace, control science and engineering, in particular to an on-orbit quality estimation method and an adaptive control method for a drag-free satellite, which comprise the following steps: carrying out linear arrangement on the non-towed satellite kinematic equation; selecting within the range of the gravity gradiometer
A threshold value, each threshold value is respectively combined with the linear arrangement of the satellite kinematics equation to establish
Two-set value observation linear system; constructing a binary system identification algorithm based on random approximation, and estimating unknown parameters in a binary observation linear system
(ii) a Inversely solving the estimated values of the on-orbit quality and the resistance gain coefficient of the satellite; calculating an estimated value of thrust required for achieving a control target; and introducing an attenuation excitation signal, and combining the limits of the maximum thrust and the minimum thrust to obtain a thrust value required at the next moment, thereby completing the self-adaptive control of the non-towed satellite. By adopting the method and the device, the on-orbit quality estimation of the satellite is completed while the self-adaptive control is realized.
Description
Technical Field
The invention relates to the technical field of aerospace, control science and engineering, in particular to an on-orbit quality estimation method and an adaptive control method for a drag-free satellite.
Background
Satellites that are designed to counteract atmospheric drag or moment through a controller are called non-towed satellites and are designed to compensate for the disturbance forces and moments experienced by orbiting satellites so that the satellites operate under the influence of the earth's gravitational field. For low earth orbit satellites, the main disturbance experienced is atmospheric drag or moment. And the main interference suffered by the deep space satellite is sunlight pressure. With the improvement of the modern social demand and the rapid development of scientific technology, more and more space scientific tasks put great demands on low-interference experimental environment. Among these tasks, the drag-free control technique plays a central role.
Satellite control is an important issue in the field of space science. Because the mass of the non-towed satellite is one of the key parameters for stress analysis, the accurate estimation of the in-orbit mass of the non-towed satellite is an important precondition for accurately realizing the satellite orbit control. The traditional satellite quality estimation method is to perform structural analysis on a satellite so as to realize the pre-estimation of the satellite quality. However, since the residual amount of the propellant is not easy to be accurately estimated, and the satellite performs different tasks during long-term operation, the satellite quality is also affected, and systematic deviation often exists in such a pre-estimation mode.
The conventional non-towed control technique is also a non-towed control performed on the assumption that the satellite quality is known, and therefore has many problems.
Disclosure of Invention
The invention provides an on-orbit quality estimation method and an adaptive control method for a drag-free satellite, which are used for estimating the on-orbit quality of the drag-free satellite and realizing adaptive control. The technical scheme is as follows:
in one aspect, a method for estimating the in-orbit quality of a drag-free satellite is provided, and the method includes:
s1, performing linear arrangement on a non-towed satellite kinematics equation;
s2, selecting in the range of the gravity gradiometer
A threshold value, each threshold value is respectively combined with the linear arrangement of the satellite kinematics equation to establish
Observing a linear system by using the binary set values;
s3, constructing a binary set value system identification algorithm based on random approximation, and estimating unknown parameters in the binary set value observation linear system
；
S4, according to the unknown parameters
And solving the estimated values of the on-orbit quality and the drag gain coefficient of the satellite.
Optionally, the S1 specifically includes:
and (3) carrying out linear arrangement on the non-towed satellite kinematic equation to obtain the following linear system with saturation constraint observation:
wherein
As a result of the residual acceleration,
in order to be able to control the satellite thrust,
in order for the satellite to be in-orbit quality,
in order to be the velocity of the satellite,
in order to be a coefficient of the drag gain,
in order to be the gaussian noise of the system,
respectively are the upper limit and the lower limit of the measuring range of the gravity gradiometer,
and carrying out saturation constraint observation on the residual acceleration for the gravity gradiometer.
Optionally, the S2 specifically includes:
selecting within the range of the gravity gradiometer
A different threshold value
And then converting the linear system with saturation constraint observation into a linear system
Two-set value observation linear system combination:
wherein
At this time
Obeying a standard normal distribution.
Optionally, the S3 specifically includes:
using a binary system identification algorithm based on stochastic approximation for the binary observed linear system
To pair
Making an estimation, wherein
Is an arbitrarily chosen positive real number step size parameter,
is a parameter of the time that is,
is a standard normal distribution function.
Optionally, the S4 specifically includes:
to obtain a pair
After estimation of (2), for each time instant
To the estimated value
Performing inverse solution to obtain the on-orbit quality
Coefficient of resistance gain
And mean value of Gaussian noise
Sum of Gaussian noise variance
；
Wherein when the value is estimated
First, three parameters of
The following inverse solution is performed:
when estimating the value
First, three parameters of
If one is not positive, each parameter continues to the estimation value of the previous moment;
thereby obtaining the estimated value of each unknown parameter including the on-orbit quality of the satellite.
In another aspect, a method for adaptive control of a drag-free satellite is provided, the method comprising:
s5, calculating an estimated value of thrust required by a control target according to a satellite speed measured value, an estimated value of the on-orbit quality of the satellite obtained by the method and an estimated value of a resistance gain coefficient;
and S6, introducing an attenuation excitation signal, and combining the limits of the maximum thrust and the minimum thrust to obtain a thrust value required at the next moment, thereby completing the self-adaptive control of the non-towed satellite.
Optionally, the S5 specifically includes: calculating the residual acceleration to reach the target
Estimate of required thrust:
the estimated value of the thrust calculated at S5 cannot be directly used as the applied thrust value because it may cause insufficient input excitation in the recognition process at S3 and does not consider the limitations of the maximum thrust and the minimum thrust of the system. With these limitations fully taken into account, the thrust is designed as follows.
The S6 specifically includes:
introducing obedience mean of 0 and variance of
Normal distribution of attenuated excitation signals
Wherein
To be composed of
A positive array with convergence rate decaying to 0;
thrust force
The design is as follows:
wherein
Is a projection operator when
Exceeding a maximum threshold
Then thrust force
Is designed as
When is coming into contact with
Below a minimum threshold
Then thrust force
Is designed as
If at all
Within the allowable thrust range, directly selecting
As controllable satellite thrust
Thereby achieving the adaptive control objective.
In another aspect, an in-orbit quality estimation apparatus for a towerless satellite is provided, the apparatus comprising:
the arrangement module is used for carrying out linear arrangement on the non-towed satellite kinematics equation;
an establishing module for selecting in the range of the gravity gradiometer
A threshold value, each threshold value is respectively combined with the linear arrangement of the satellite kinematics equation to establish
Observing a linear system by using the binary set values;
an estimation module for constructing a binary system identification algorithm based on random approximation and estimating unknown parameters in the binary observation linear system
；
An inverse solution module for calculating the unknown parameters
Is estimated, inverselyAnd solving the estimated values of the on-orbit quality and the drag gain coefficient of the satellite.
In another aspect, an electronic device is provided and includes a processor and a memory, where the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the method for estimating the on-orbit quality of a towed-free satellite.
In another aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the above method for estimating the on-orbit quality of a non-towed satellite.
In another aspect, a towerless satellite adaptive control apparatus is provided, the apparatus comprising:
the calculation module is used for calculating an estimated value of thrust required by achieving a control target according to a satellite speed measured value, an estimated value of the on-orbit quality of the satellite obtained by the method and an estimated value of a resistance gain coefficient;
and the self-adaptive control module is used for introducing an attenuation excitation signal, and combining the limitation of the maximum thrust and the minimum thrust to obtain a thrust value required at the next moment so as to finish the self-adaptive control of the non-towed satellite.
In another aspect, an electronic device is provided, which includes a processor and a memory, where the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the adaptive control method for a towerless satellite.
In another aspect, a computer-readable storage medium is provided, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement the adaptive control method for a non-towed satellite.
The technical scheme provided by the invention has the beneficial effects that at least:
1) The method has greater universality, fully considers the saturation constraint of the gravity gradiometer on one hand, avoids estimation errors and control errors caused by the saturation constraint, and fully considers the situations of unknown noise distribution and on-orbit quality of the satellite on the other hand.
2) The method and the device complete the in-orbit quality estimation of the satellite while realizing the self-adaptive control, can be applied to other control problems of the satellite, and can be used as one of parameters for detecting whether the satellite is seriously damaged.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of an in-orbit quality estimation method for a non-towed satellite according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for adaptive control of a non-towed satellite according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the convergence of an open-loop identification algorithm according to an embodiment of the present invention;
FIG. 4 is a graphical illustration of the convergence of on-track quality estimation in an adaptive control algorithm as demonstrated by an embodiment of the present invention;
FIG. 5 is a schematic diagram of an adaptive controller down-trace demonstrated by an embodiment of the present invention;
FIG. 6 is a block diagram of an in-orbit quality estimation apparatus for a non-towed satellite according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
FIG. 8 is a block diagram of an adaptive control apparatus for a non-towed satellite according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, an embodiment of the present invention provides a method for estimating an in-orbit quality of a towed-free satellite, where the method includes:
s1, performing linear arrangement on a non-towed satellite kinematics equation;
s2, selecting in the range of the gravity gradiometer
Each threshold value is combined with the linear arrangement of the satellite kinematic equation to establish
Two-set value observation linear system;
s3, constructing a binary system identification algorithm based on random approximation, and estimating unknown parameters in the binary observation linear system
；
S4, according to the unknown parameters
And solving the estimated values of the on-orbit quality and the drag gain coefficient of the satellite.
The following describes an in-orbit quality estimation method for a non-towed satellite according to an embodiment of the present invention.
There are two goals for embodiments of the present invention.
The first target is: the on-orbit quality of the non-towed satellite is estimated.
And a second target: realizing self-adaptive control of the drag-free satellite, wherein the control target is to control the residual acceleration to the up-down range of the gravity gradiometer
A certain value in between
Such as an intermediate value, as follows:
for the first objective, an embodiment of the present invention provides a method for estimating on-orbit quality of a towed-free satellite, where the method includes:
s1, performing linear arrangement on a non-towed satellite kinematic equation;
the non-towed satellite kinematics equation can be organized as:
wherein, the first and the second end of the pipe are connected with each other,
as a result of the residual acceleration,
for controllable satellite thrust, the thrust having upper and lower limits, i.e.
；
The satellite on-orbit quality;
the atmospheric resistance coefficient, the atmospheric density and the frontal area of the satellite are respectively difficult to directly measure;
for satellite velocity, the velocity can be measured in real time. The embodiment of the invention can observe the residual acceleration through the gravity gradiometer
I.e. by
Wherein
Respectively the upper and lower limits of the measuring range of the gravity gradiometer;
is a mean value of
Variance is
The system gaussian noise of (1);
the gravity gradiometer observes the residual acceleration;
is a drag gain factor.
The purpose of this step is to make the observable part and the part to be identified in the kinematic equation linearly separate by linear arrangement, so that the algorithm based on linear system can be applied to the identification problem.
S2, selecting in the range of the gravity gradiometer
Each threshold value is combined with the linear arrangement of the satellite kinematic equation to establish
Two-set value observation linear system;
in that
Therein selects
A different threshold value
And then converting the linear system with saturation constraint observation into a linear system
The combination of two-set-valued observation linear systems:
wherein
At this time
Obey a standard normal distribution, i.e. its distribution function is:
in this step, the purpose of introducing multiple thresholds is to better avoid the influence of saturation constraints on the estimation. The more threshold numbers are selected, the less information loss will be caused by quantization. Linear system
The purpose of converting into a plurality of two-set-value observation linear systems instead of directly adopting a single multi-value observation linear system is to successfully identify the noise variance
The threshold value is required to be set
Incorporating extended inputs simultaneously
In (1). The difference in inputs makes it difficult to directly build a single multi-valued observation linear system. And the relevant noise mean value is introduced into the model conversion
Sum variance
In order to remove the noise of unknown distribution in the original system
Converted to a known distribution
Thereby enabling the successful application of a binary identification algorithm based on a known noise distribution.
S3、Constructing a binary set value system identification algorithm based on stochastic approximation, and estimating unknown parameters in the binary set value observation linear system
;
The algorithm comprises the following steps:
a) Giving an initial estimate
Wherein
First, three parameters of
；
The satellite orbit quality and the noise variance are determined by the prior information of positive real number; and respectively setting step length parameters for binary value subsystems generated by each threshold
(ii) a Time parameter
Is initialized to
。
The purpose of this step is to initialize the various parameters required by the algorithm.
b) Obtaining each of
Binary subsystem generated inputs generated for each threshold at a time
And binary value observation
Calculating
Wherein
Is a function of the standard normal distribution function,
is an algorithm pair at the last moment
An estimate of (d).
The purpose of this step is to compare the observed value of the previous step with the observed value of the current time, and obtain an estimation error with quantization error and system noise.
c) The estimation error iterative algorithm pair obtained in the last step
Estimated value of (a):
the algorithm directly integrates the observation information of a plurality of binary-value observation linear systems into the same one
Rather than separately identifying and averaging, the objective is to more fully exploit the incentive of the inputs, so that the identification algorithm converges better.
d) Parameter(s)
Increase by 1 and return to step b).
S4, according to the unknown parameters
And solving the estimated values of the on-orbit quality and the drag gain coefficient of the satellite.
Get a pair
After the estimation, toEach moment of time
For the estimated value
Performing inverse solution to obtain the on-orbit quality
Coefficient of resistance gain
And mean value of Gaussian noise
Sum of Gaussian noise variance
；
For convenience of exposition, to
Definition of embodiments of the invention
Is composed of
To (1) a
The number of the components is such that,
is composed of
To (1) a
And (4) a component.
The basis of inverse solution is mapping
Is a single shot.
Because the on-orbit quality and the noise variance of the satellite are both larger than zeroTherefore, it is
Are all positive real numbers. To avoid the occurrence of
In the case of non-positive, the inverse solution process proceeds in the following two cases.
Case 1: when in use
At first, by
To obtain an estimate of the variance of the Gaussian noise
Then by
And
is provided with
Finally is formed by
Is provided with
Thereby completing
The inverse solution of the moment.
When in use
In time, because the embodiment of the invention sets the initialization
So this situation must be performed.
Case 2: when in use
Or alternatively
In time, the embodiments of the invention are not right
The inverse solution is directly carried out, and the inverse solution result at the previous moment is continued. Namely that
This is because
And with
The prior information of (2) is contradictory, and the denominator is in order to avoid the occurrence of the calculation process
The resulting computation crashes.
Through this step, the embodiment of the present invention achieves the first goal, namely, the on-orbit quality of the non-towed satellite
Is estimated. The mean information and the gaussian noise variance are not required for the control objective of the embodiment of the present invention and may not be stored.
As shown in fig. 2, an embodiment of the present invention further provides a method for adaptive control of a non-towed satellite, where the method includes:
s5, calculating an estimated value of thrust required by achieving a control target according to a satellite speed measured value, an estimated value of the on-orbit quality of the satellite obtained by the method and an estimated value of a resistance gain coefficient;
and S6, introducing an attenuation excitation signal, and combining the limits of the maximum thrust and the minimum thrust to obtain a thrust value required at the next moment, thereby completing the self-adaptive control of the non-towed satellite.
Optionally, the S5 specifically includes: calculating residual acceleration to reach the target
Estimate of required thrust:
the S6 specifically includes:
introducing obedience mean of 0 and variance of
Normally distributed attenuated excitation signal
Wherein
To be composed of
A positive series of values with convergence rate decaying to 0;
thrust force
The design is as follows:
wherein
Is a projection operator when
Exceeding a maximum threshold
Then thrust force
Is designed as
When is coming into contact with
Below a minimum threshold
Then thrust force
Is designed as
If at all
Within the range of allowable thrust, directly selecting
As controllable satellite thrust
Thereby achieving the adaptive control objective.
Numerical simulations of the method provided by the embodiments of the present invention are described below.
In the simulation, the embodiment of the invention adopts the following parameters: maximum allowable thrust
Allowable minimum thrust
Allowable maximum speed
Minimum allowable speed
Upper limit of gravity gradiometer range
Lower limit-
. Among the unknown parameters, on-track quality
Coefficient of drag gain
Variance of noise
Mean value of noise
。
1) Open loop identification simulation
4 thresholds are uniformly selected in the range of the gravity gradiometer:
. Step size parameter in algorithm
Are all selected to be 20.
Is selected as
. Supposing thrust force
The selection of (A) is uniformly distributed within an allowable range.
Under the parameter setting, the method of the embodiment of the invention is used for obtaining the satellite on-orbit quality estimation along with the time
Fig. 3 shows that the algorithm can correctly identify the on-orbit quality of the satellite.
2) Closed loop control simulation
4 thresholds are uniformly selected in the range of the gravity gradiometer:
. Step size parameter in algorithm
Are all selected to be 20.
Is selected as
. Coefficient of attenuation
Is selected as
Under the parameter setting, the method of the embodiment of the invention is used for obtaining the satellite on-orbit quality estimation along with the time
As shown in fig. 4, the adaptive control algorithm is time dependent
The curve of (a) is shown in fig. 5. Fig. 4 and 5 show that the method of the embodiment of the invention can identify the in-orbit quality of the satellite and complete the predetermined adaptive tracking control task at the same time.
As shown in fig. 6, an in-orbit quality estimation apparatus for a non-towed satellite is further provided in an embodiment of the present invention, where the apparatus includes:
the sorting module 610 is used for performing linear sorting on the non-towed satellite kinematics equation;
a setup module 620 for selecting within a range of gradiometers
Each threshold value is combined with the linear arrangement of the satellite kinematic equation to establish
Observation of two-set valuesA linear system;
an estimation module 630, configured to construct a stochastic approximation-based binary system identification algorithm, and estimate unknown parameters in the binary observed linear system
；
An inverse solution module 640 for calculating the unknown parameters
And solving the estimated values of the on-orbit quality and the drag gain coefficient of the satellite.
The function structure of the in-orbit quality estimation device for the non-towed satellite provided by the embodiment of the invention corresponds to the in-orbit quality estimation method for the non-towed satellite provided by the embodiment of the invention, and is not described herein again.
Fig. 7 is a schematic structural diagram of an electronic device 700 according to an embodiment of the present invention, where the electronic device 700 may generate a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 701 and one or more memories 702, where at least one instruction is stored in the memory 702, and the at least one instruction is loaded and executed by the processor 701 to implement the above-mentioned steps of the method for estimating the in-orbit quality of the non-towed satellite.
In an exemplary embodiment, a computer-readable storage medium, such as a memory, is also provided that includes instructions executable by a processor in a terminal to perform the above-described method for estimating an in-orbit quality of a non-towed satellite. For example, the computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
As shown in fig. 8, an embodiment of the present invention further provides a towed-free satellite adaptive control apparatus, where the apparatus includes:
the calculation module 810 is configured to calculate an estimated value of thrust required to achieve the control target according to the satellite velocity measurement value, the estimated value of the satellite on-orbit mass obtained by the foregoing method, and the estimated value of the resistance gain coefficient;
and the self-adaptive control module 820 is used for introducing an attenuation excitation signal, and combining the limitation of the maximum thrust and the minimum thrust to obtain a thrust value required at the next moment so as to finish the self-adaptive control of the non-towed satellite.
The functional structure of the adaptive control device for the non-towed satellite provided by the embodiment of the invention corresponds to that of the adaptive control method for the non-towed satellite provided by the embodiment of the invention, and is not described again.
Fig. 9 is a schematic structural diagram of an electronic device 900 according to an embodiment of the present invention, where the electronic device 900 may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 901 and one or more memories 902, where the memory 902 stores at least one instruction, and the at least one instruction is loaded and executed by the processor 901 to implement the steps of the above-described adaptive control method for a towed-free satellite.
In an exemplary embodiment, a computer-readable storage medium, such as a memory, is also provided that includes instructions executable by a processor in a terminal to perform the method for towed-free satellite adaptive control. For example, the computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (10)
1. A method for estimating on-orbit quality of a drag-free satellite, the method comprising:
s1, performing linear arrangement on a non-towed satellite kinematics equation;
s2, selecting in the range of the gravity gradiometer
A threshold value, each threshold value is respectively combined with the linear arrangement of the satellite kinematics equation to establish
Two-set value observation linear system;
s3, constructing a binary system identification algorithm based on random approximation, and estimating unknown parameters in the binary observation linear system
；
S4, according to the unknown parameters
And solving the estimated values of the on-orbit quality and the drag gain coefficient of the satellite.
2. The method according to claim 1, wherein S1 specifically comprises:
and (3) carrying out linear arrangement on the non-towed satellite kinematic equation to obtain the following linear system with saturation constraint observation:
wherein
As a result of the residual acceleration,
is controllableThe thrust of the satellite is pushed by the satellite,
in order for the satellite to be in-orbit quality,
in order to be the velocity of the satellite,
in order to be a coefficient of the drag gain,
in order to obtain the gaussian noise of the system,
respectively are the upper limit and the lower limit of the measuring range of the gravity gradiometer,
and carrying out saturation constraint observation on the residual acceleration for the gravity gradiometer.
3. The method according to claim 2, wherein the S2 specifically comprises:
selecting within the range of the gravity gradiometer
A different threshold value
And then converting the linear system with saturation constraint observation into a linear system
The combination of two-set values observing a linear system:
wherein
At this time
Obeying a standard normal distribution.
4. The method according to claim 2, wherein the S3 specifically comprises:
using a binary system identification algorithm based on stochastic approximation for the binary observed linear system
To pair
Making an estimation, wherein
Is an arbitrarily chosen positive real number step size parameter,
is a parameter of the time that it is,
is a standard normal distribution function.
5. The method according to claim 1, wherein S4 specifically includes:
get a pair
After estimation of (2), for each time instant
For the estimated value
Performing inverse solution to obtain on-orbitQuality of
Coefficient of resistance gain
And mean value of Gaussian noise
Sum gaussian noise variance
；
Wherein when the value is estimated
First, three parameters of
The following inverse solution is performed:
when estimating the value
First, three parameters of
If one of the parameters is not positive, each parameter continues to the estimation value of the previous moment;
thereby obtaining the on-orbit quality of the satellite
And (4) estimating the inner unknown parameters.
6. A method for adaptive control of a towerless satellite, the method comprising:
s5, calculating an estimated value of thrust required for achieving a control target according to a satellite speed measured value, an estimated value of the on-orbit mass of the satellite obtained by the method of any one of claims 1 to 5 and an estimated value of a resistance gain coefficient;
and S6, introducing an attenuation excitation signal, and combining the limits of the maximum thrust and the minimum thrust to obtain a thrust value required at the next moment, thereby completing the self-adaptive control of the non-towed satellite.
7. The method according to claim 6, wherein the S5 specifically comprises: calculating the residual acceleration to reach the target
Estimate of required thrust:
the S6 specifically includes:
introducing obedience mean of 0 and variance of
Normal distribution of attenuated excitation signals
Wherein
To be composed of
A positive series of values with convergence rate decaying to 0;
thrust force
The design is as follows:
wherein
Is a projection operator when
Exceeding a maximum threshold
Then thrust force
Is designed as
When is coming into contact with
Below a minimum threshold
Then thrust force
Is designed as
If, if
Within the range of allowable thrust, directly selecting
As controllable satellite thrust
Thereby achieving the adaptive control objective.
8. An in-orbit quality estimation device for a tow-free satellite, the device comprising:
the arrangement module is used for carrying out linear arrangement on the non-towed satellite kinematics equation;
a building module for selecting in the range of gravity gradiometer
Each threshold value is combined with the linear arrangement of the satellite kinematic equation to establish
Observing a linear system by using the binary set values;
an estimation module for constructing a binary system identification algorithm based on random approximation and estimating unknown parameters in the binary observation linear system
；
An inverse solution module for calculating the unknown parameters
And solving the estimated values of the on-orbit quality and the drag gain coefficient of the satellite.
9. An electronic device comprising a processor and a memory, the memory having stored therein at least one instruction, wherein the at least one instruction is loaded and executed by the processor to implement the method for on-orbit quality estimation for a towed-free satellite as recited in any of claims 1-5.
10. A computer-readable storage medium having at least one instruction stored thereon, wherein the at least one instruction is loaded and executed by a processor to implement the method for estimating the on-orbit quality of a towed-free satellite according to any of claims 1-5.
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