航天器交会对接的模型预测与反演制导控制
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摘要
面向空间交会对接和停靠的任务需求,将航天器相对制导控制系统视为离散时间控制系统.利用系统状态转移模型外推预测相对运动状态偏差,在每个控制周期中推力恒定的假设下,根据轨控作用对系统状态的影响规律,采用广义逆方法反演得到交会对接制导控制序列.对时间约束下的基于空间相对运动状态转移预测与反演的相对制导控制律进行设计,讨论该方法在实际应用中的一些特点.预测与反演制导控制中的控制输出直接表示为轨控加速度,更符合工程实际情况.近圆轨道的交会对接仿真结果表明,所提出的方法能够实现精度更高、更为柔顺平滑的交会对接,在轨控速度增量和推力器输出上也具有更好的工程适用性.
For mission requirements of space rendezvous and docking, the spacecraft relative guidance and control system is considered as a discrete-time control system. The deviation of relative motion state is predicted by using the model prediction method. Under the assumptions that thrusts are constant and limited in each control cycle, according to the influence of orbit control act on system states, the relative guidance control sequence is obtained by using the generalized inverse method. A relative guidance and control law based on spatial relative motion state transition prediction and inversion is designed. Some characteristics of this method in application are discussed. In predictive and inversive guidance control, the control output is directly expressed as orbit control acceleration, which is more in line with the actual situation of the practice. Simulation results show that the proposed method can achieve more higher accuracy, more smooth rendezvous and docking, and also has better engineering applicability in speed increment and thruster output.
For mission requirements of space rendezvous and docking, the spacecraft relative guidance and control system is considered as a discrete-time control system. The deviation of relative motion state is predicted by using the model prediction method. Under the assumptions that thrusts are constant and limited in each control cycle, according to the influence of orbit control act on system states, the relative guidance control sequence is obtained by using the generalized inverse method. A relative guidance and control law based on spatial relative motion state transition prediction and inversion is designed. Some characteristics of this method in application are discussed. In predictive and inversive guidance control, the control output is directly expressed as orbit control acceleration, which is more in line with the actual situation of the practice. Simulation results show that the proposed method can achieve more higher accuracy, more smooth rendezvous and docking, and also has better engineering applicability in speed increment and thruster output.
引文
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[19]Qian Y,Xu M,Zeng Z F.Optimal multiple-impulse time-fixed rendezvous using genetic algorithm[C].20102nd Int Conf on Information Engineering and Computer Science.Wuhan:IEEE,2010:1-4.
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[24]谭天乐,武海雷.轨道交会、悬停与绕飞控制的解析解方法[J].宇航学报,2016,37(11):1333-1341.(Tan T L,Wu H L.Analytical solution method for orbit rendezvous,hovering and fly-around control[J].J of Astronautics,2016,37(11):1333-1341.)
[25]王松桂,杨振海.广义逆矩阵及其应用[M].北京:北京工业大学出版社,1996:1-3.(Wang S G,Yang Z H.Generalized inverse matrix and its applications[M].Beijing:Beijing University of Technology Press,1996:1-3.)
[26]Yamanaka K,Ankersen F.New state transition matrix for relative motion on an arbitrary elliptical orbit[J].J of Guidance,Control,and Dynamics,2002,25(2):60-66.
[27]Katsuhiko O.离散时间控制系统[M].第2版.北京:电子工业出版社,2014:220-240.(Katsuhiko O.Discrete time control systems[M].2nd ed.Beijing:Electronic Industry Press,2014:220-240.)
[28]席裕庚,预测控制[M].第2版.北京:国防工业出版社,2014:5-9.(Xi Y G.Predictive control[M].2nd ed.Beijing:National Defense Industry Press,2014:5-9.)
[29]李凯凯,尚伟伟.交会对接轨道控制的高精度平稳过渡过程设计[J].系统仿真学报,2015,27(11):2784-2790.(Li K K,Shang W W.High accuracy and stable transient process design of orbit control for space rendezvous and docking[J].J of System Simulation,2015,27(11):2784-2790.)
[2]Yamanaka K,Yokota K,Yamada K,et al.Guidance and navigation system design of R-bar approach for rendezvous and docking[C].AIAA Int Communications Satellite Systems Conf and Exhibit.Yokohama:AIAA1998.
[3]朱仁璋,蒙薇,胡锡婷.航天器交会中的Lambert问题[J].中国空间科学技术,2006,12(6):49-55.(Zhu R Z,Meng W,Hu X T.Lambert’s problem in spacecraft rendezvous[J].Chinese Space Science and Technology,2006,12(6):49-55.)
[4]谭丽芬,闫野,周英,等.航天器交会中的多圈Lambert问题研究[J].国防科技大学学报,2010,32(5):12-16.(Tan L F,Yan Y,Zhou Y,et.al.Research on multiple revolution Lambert problem in spacecraft rendezvous[J]J of National University of Defense Technology,201032(5):12-16.)
[5]王颖,吴宏鑫.基于椭圆轨道的空间交会停靠全系数自适应控制方法研究[J].宇航学报,2001,22(5):15-19.(Wang Y,Wu H X.Space rendezvous and berthing and study of the control method[J].J of Astronautics,200122(5):15-19.)
[6]Liang S,Wei H.Robust adaptive control for spacecraft cooperative rendezvous and docking[C].The 52nd IEEEConf on Decision and Control.Florence:IEEE,2013:5516-5521.
[7]Xia K W,Zhu B.Energy-efficient adaptive control for cooperative spacecraft rendezvous and docking[C].Proc of the 36th Chinese Control Conf.Dalian:IEEE,2017:979-984.
[8]李九人,李海阳,唐国金.对无控旋转目标逼近的自适应滑模控制[J].宇航学报,2011,32(4):815-822.(Li J R,Li H Y,Tang G J.Adaptive sliding mode control for approach to uncontrolled rotating satellite[J].J of Astronautics,2011,32(4):815-822.)
[9]Zhao L,Jia Y M,Matsuno F.Adaptive time-varying sliding mode control for autonomous spacecraft rendezvous[C].52nd IEEE Conf on Decision and Control Florence:IEEE,2013:5504-5509.
[10]郭勇,宋申民,李学辉.非合作交会对接的姿态和轨道耦合控制[J].控制理论与应用,2016,33(5):638-644.(Guo Y,Song S M,Li X H.Attitude and orbit voupled control for non-cooperative rendezvous and docking[J]Control Theory&Application,2016,33(5):638-644.)
[11]Xu R R,Ji H B,Ma Y K.The finite-time robust control for spacecraft rendezvous and docking[C].Proc of the 33rd Chinese Control Conf.Nanjing:IEEE,2014:642-646.
[12]刘伟杰,谌颖.航天器椭圆轨道自主交会的鲁棒H∞控制[J].宇航学报,2015,36(2):179-185.(Liu W J,Chen Y.Robust H∞control for autonomous elliptic orbit rendezvous of spacecraft[J].Jof Astronautics,2015,36(2):179-185.)
[13]Gao X Y,Tan J L,Deng S T.Robust optimal control design for spacecraft orbit rendezvous[C].Proc of the34th Chinese Control Conf.Hangzhou:IEEE,2015:2485-2489.
[14]姬晓琴,肖利红,陈文辉.基于T-H方程的多脉冲最优交会方法[J].北京航空航天大学学报,2014,40(7):905-909.(Ji X Q,Xiao L H,Chen W H.Optimal multi-impulse rendezvous based on T-H equations[J].J of Beijing University of Aeronautics and Astronautics,2014,40(7):905-909.)
[15]Hartley E N.A tutorial on model predictive control for spacecraft Rendezvous[C].2015 European Control Conf Linz:IEEE,2015:1355-1361.
[16]Ravikumar L,Philip N K,Padhi R,et.al.Autonomous terminal maneuver of spacecrafts for rendezvous using model predictive control[C].2016 Indian Control Conf Hyderabad:IEEE,2016:72-78.
[17]卢山,陈统,徐世杰.基于自适应模拟退火遗传算法的最优Lambert转移[J].北京航空航天大学学报,200733(10):1191-1195.(Lu S,Chen T,Xu S J.Optimal Lambert transfer based on adaptive simulated annealing genetic algorithm[J].Jof Beijing University of Aeronautics and Astronautics2007,33(10):1191-1195.)
[18]刘源,叶潇,郝勇,等.多脉冲异面交会对接转移轨道的优化[J].光学精密工程,2017,25(4):987-998.(Liu Y,Ye X,Hao Y,et.al.Optimization of transfer orbit for multiple-pulse noncoplanar rendezvous and docking[J].Optics and Precision Engineering,201725(4):987-998.)
[19]Qian Y,Xu M,Zeng Z F.Optimal multiple-impulse time-fixed rendezvous using genetic algorithm[C].20102nd Int Conf on Information Engineering and Computer Science.Wuhan:IEEE,2010:1-4.
[20]Wigbert F.Automated rendezvous and docking of spacecraft[M].Cambridge:Cambridge Universitty Press,2003:429-434.
[21]李晨光,肖业伦.多脉冲C_W交会的优化方法[J].宇航学报,2006,27(2):172-176.(Li C G,Xiao Y L.Optimization methods of multi-pulse C_W rendezvous[J].J of Astronautics,2006,27(2):172-176.)
[22]张柏楠.航天器交会对接任务分析与设计[M].北京:科学出版社,2011:110-111.(Zhang B N.Analysis and design of spacecraft rendezvous and docking mission[M].Beijing:Science Press,2011:110-111.)
[23]涂良辉,袁建平,罗建军,等.多冲量近程交会最优化模型[J].中国空间科学技术,2010,30(2):55-60.(Tu L H,Yuan J P,Luo J J,et.al.Optimal multi-impulse close range rendezvous[J].Chinese Space Science and Technology,2010,30(2):55-60.)
[24]谭天乐,武海雷.轨道交会、悬停与绕飞控制的解析解方法[J].宇航学报,2016,37(11):1333-1341.(Tan T L,Wu H L.Analytical solution method for orbit rendezvous,hovering and fly-around control[J].J of Astronautics,2016,37(11):1333-1341.)
[25]王松桂,杨振海.广义逆矩阵及其应用[M].北京:北京工业大学出版社,1996:1-3.(Wang S G,Yang Z H.Generalized inverse matrix and its applications[M].Beijing:Beijing University of Technology Press,1996:1-3.)
[26]Yamanaka K,Ankersen F.New state transition matrix for relative motion on an arbitrary elliptical orbit[J].J of Guidance,Control,and Dynamics,2002,25(2):60-66.
[27]Katsuhiko O.离散时间控制系统[M].第2版.北京:电子工业出版社,2014:220-240.(Katsuhiko O.Discrete time control systems[M].2nd ed.Beijing:Electronic Industry Press,2014:220-240.)
[28]席裕庚,预测控制[M].第2版.北京:国防工业出版社,2014:5-9.(Xi Y G.Predictive control[M].2nd ed.Beijing:National Defense Industry Press,2014:5-9.)
[29]李凯凯,尚伟伟.交会对接轨道控制的高精度平稳过渡过程设计[J].系统仿真学报,2015,27(11):2784-2790.(Li K K,Shang W W.High accuracy and stable transient process design of orbit control for space rendezvous and docking[J].J of System Simulation,2015,27(11):2784-2790.)