航天器自主交会制导与控制方法研究
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摘要
本文以空间交会对接为背景,根据自主交会任务需求,运用空间交会理论,重点研究和分析了基于冲量和有限推力的远程交会、近程交会和接近操作段的制导与控制方法,并从概念与方法上对交会对接安全和仿真系统建模进行了探讨。
首先,建立并分析了空间交会问题的动力学模型,分别设计了远程和近程自主交会制导、导航与控制系统方案的体系结构。
其次,对远程交会轨道优化和制导方法进行了研究。(1)提出了两种远程多冲量轨道优化方法:其一,采用通用状态变量设计了多阶段多维动态规划优化方法,推导了两冲量交会能量最优解析解;其二,针对具有时间与能量混合性能指标的多冲量优化问题,设计并仿真实现了一种具有快速收敛效果的小生境进化算法。(2)针对有限推力制导问题,分别开展了速度增益制导和E制导方法在交会任务中的应用研究,提出了不同方法下参数选取的原则和优化方法,并采用调制技术解决了E制导方法的实现问题。(3)设计出一种初制导、中制导、终端制导加无动力自由飞行的自主交会组合制导方案,实现了轨道优化与有限推力制导的有机结合,提出了一种初、中制导采用速度增益制导,终端制导采用E制导的工程应用模式,仿真结果表明该模式在工程实现上具有较好的自主性和鲁棒性。
再次,研究了近程交会相对轨道控制、姿态控制及交会安全问题。(1)从理论上得到了近程交会时间固定多冲量最小范数解和二次规划解,并提出了时间不固定非线性规划问题的一般求解算法;研究了一类具有视线控制能力的参考视线多冲量制导快速计算算法,提出了可用于优化轨道运动状态特性的指数函数和幂函数变换方法;将视线制导方法应用于停靠点逼近操作,研究了视线制导过程中的参数转换问题,设计了视线制导纵、法向控制律;提出了一种基于滑移理论的相对速度控制制导方法,并首次提出了快速滑移轨道、指数滑移轨道和慢速滑移轨道的概念;基于滑模控制理论研究了逼近段的轨道控制问题,在不同控制策略下分别对常推力和可变推力的控制效果进行了分析;研究了用于绕飞与逼近段轨道控制的遗传—模糊控制方法,提出了模糊表建立与优化的方法,在考虑导航误差的条件下验证了该方法的有效性。仿真结果表明上述方法有效且各有特点。(2)关于相对姿态控制问题,证明了体坐标系与对接面坐标系平行条件下相对姿态测量参数的不变性原理,推导了质心运动参数的转换公式;针对仿射形式的非线性姿态控制系统,证明了其能控性和能观性,并采用微分几何理论推导出相变量形式的姿态控制模型,在考虑外界和系统模型误差的情况下,设计了用于姿态跟踪控制的终端滑模变结构控制律。(3)完善了空间交会安全性概念,提出了几种提高空间交会安全性的策略;基于交会动力学随机模型,推导了碰撞概率的计算模型,分析了绕飞时不同因素对碰撞概率的影响,提出了利用碰撞概率模型对不同类型轨道碰撞规避策略进行设计的简单方法。
最后,研究了空间自主交会对接仿真系统建模架构;采用UML实现了制导、导航与控制系统的逻辑建模;基于模式理论对仿真系统原型进行了抽象,设计了三种面向空间自主交会制导、导航与控制系统的可复用设计模式。
论文采用理论与工程应用相结合的研究思路,提出并研究了解决自主交会技术中若干制导与控制问题的方法,方法研究中体现了优化、快速、鲁棒、精确等特点,获得了一些有意义的结果与结论,对空间交会相关研究和工程应用具有一定的参考价值。
Based on the rendezvous and docking knowledge background and the requirements of rendezvous and docking (AR&D) mission, this dissertation puts much emphasis on the guidance and control approaches of far-distance rendezvous based on the impulse and the finite thrust, near-distance rendezvous and approach operations by applying rendezvous theories. The rendezvous safety and simulation system modeling issues are analyzed conceptually and methodologically.
First, the rendezvous dynamic models are established. The GNC scheme system frame of the far-distance and near-distance rendezvous are designed respectively.
Second, the far-distance rendezvous trajectory optimization and the guidance approaches are researched. (1) Two far-distance multi-impulse orbit optimal approaches are proposed: Adopting the general states variables, a multi-phase-multi-dimension dynamic programming optimizing algorithm is implemented, and the energy optimal solution of two-impulse rendezvous are deduced; For the multi-impulse optimal problem of the time and energy performance indexes, a niche evolution algorithm which has a rapid convergence performance is put forward. (2) For the finite thrust guidance problem, the velocity-gain-guidance and E guidance are respectively studied for application, the parameter selecting principles and optimizing methods are given, and the implement problem of E guidance under the condition of constant finite thrust is solved with the PWPF modulator. (3) A combined guidance project with initial, middle, terminal guidance phases and free flight phase are planned. The mission planning with impulsive conditions and guidance with finite thrust are combined compactly. A project implementation model with the velocity-gain-guidance as the initial guidance, the E guidance as the terminal guidance is given. The project shows good autonomous and robust performances from the simulation results.
Third, the relative orbit control, attitude control and the rendezvous safety questions of near-distance rendezvous are studied. (1) In theory, the constrained time multi-impulse least norm solution and quadratic programming solution are given, and the general solution of non-constrained time nonlinear programming problem algorithm is put forward; A reference line-of-sight (LOS) multi-impulse rapid calculating guidance approach is studied, and the exponential and the power function transforms are put forward to optimize orbit kinetic characteristics; Applying the LOS guidance to the docking position operation, the parameter transformation methods and the guidance laws are designed. Based on the glidescope theory, the velocity control design approaches are proposed, and the concept of fast, exponential and slow approach orbits are defined; The approach phase orbit control is studied based on the sliding mode control, for the constant and non-constant thrust model, the control effects are analyzed under different control strategies; A gene-fuzzy control approach is studied for the fly-around and terminal approach phase, the modeling and optimization methods of the fuzzy table are given. Simulation results demonstrate the efficacy of the proposed approaches (2) For the relative attitude control problem, the attitude parameter invariable principle is proven under the parallel condition of the body and the docking panel coordinate system, and the transformation formulas of centroid motion parameters are deduced; The observability and controllability conditions of nonlinear attitude control system are proven; The phase variable model is attained by adopting the differential geometry theory, based on the algorithm of terminal sliding mode control, the attitude track is implemented when considering the disturbances. (3) The safety concept of the space rendezvous is improved, and several rendezvous strategies are given; Based on the rendezvous dynamic stochastic model, the computational equations of the collision probability are given and analyzed, and three kinds of simple models of collision avoidance are given.
Finally, the space rendezvous simulation system modeling frame is studied; The logic modeling of GNC system are completed by using UML diagrams; Based on design pattern theory the simulation system is abstracted, and three oriented-object design patterns for GNC of AR&D are given.
Combining theory with engineering practice, this dissertation proposes many approaches to solve the AR&D problems, and the performances of optimization, rapidness and precision are embodied in the design of the approaches. Some results and conclusions are significant and helpful to associate future space rendezvous researches.
首先,建立并分析了空间交会问题的动力学模型,分别设计了远程和近程自主交会制导、导航与控制系统方案的体系结构。
其次,对远程交会轨道优化和制导方法进行了研究。(1)提出了两种远程多冲量轨道优化方法:其一,采用通用状态变量设计了多阶段多维动态规划优化方法,推导了两冲量交会能量最优解析解;其二,针对具有时间与能量混合性能指标的多冲量优化问题,设计并仿真实现了一种具有快速收敛效果的小生境进化算法。(2)针对有限推力制导问题,分别开展了速度增益制导和E制导方法在交会任务中的应用研究,提出了不同方法下参数选取的原则和优化方法,并采用调制技术解决了E制导方法的实现问题。(3)设计出一种初制导、中制导、终端制导加无动力自由飞行的自主交会组合制导方案,实现了轨道优化与有限推力制导的有机结合,提出了一种初、中制导采用速度增益制导,终端制导采用E制导的工程应用模式,仿真结果表明该模式在工程实现上具有较好的自主性和鲁棒性。
再次,研究了近程交会相对轨道控制、姿态控制及交会安全问题。(1)从理论上得到了近程交会时间固定多冲量最小范数解和二次规划解,并提出了时间不固定非线性规划问题的一般求解算法;研究了一类具有视线控制能力的参考视线多冲量制导快速计算算法,提出了可用于优化轨道运动状态特性的指数函数和幂函数变换方法;将视线制导方法应用于停靠点逼近操作,研究了视线制导过程中的参数转换问题,设计了视线制导纵、法向控制律;提出了一种基于滑移理论的相对速度控制制导方法,并首次提出了快速滑移轨道、指数滑移轨道和慢速滑移轨道的概念;基于滑模控制理论研究了逼近段的轨道控制问题,在不同控制策略下分别对常推力和可变推力的控制效果进行了分析;研究了用于绕飞与逼近段轨道控制的遗传—模糊控制方法,提出了模糊表建立与优化的方法,在考虑导航误差的条件下验证了该方法的有效性。仿真结果表明上述方法有效且各有特点。(2)关于相对姿态控制问题,证明了体坐标系与对接面坐标系平行条件下相对姿态测量参数的不变性原理,推导了质心运动参数的转换公式;针对仿射形式的非线性姿态控制系统,证明了其能控性和能观性,并采用微分几何理论推导出相变量形式的姿态控制模型,在考虑外界和系统模型误差的情况下,设计了用于姿态跟踪控制的终端滑模变结构控制律。(3)完善了空间交会安全性概念,提出了几种提高空间交会安全性的策略;基于交会动力学随机模型,推导了碰撞概率的计算模型,分析了绕飞时不同因素对碰撞概率的影响,提出了利用碰撞概率模型对不同类型轨道碰撞规避策略进行设计的简单方法。
最后,研究了空间自主交会对接仿真系统建模架构;采用UML实现了制导、导航与控制系统的逻辑建模;基于模式理论对仿真系统原型进行了抽象,设计了三种面向空间自主交会制导、导航与控制系统的可复用设计模式。
论文采用理论与工程应用相结合的研究思路,提出并研究了解决自主交会技术中若干制导与控制问题的方法,方法研究中体现了优化、快速、鲁棒、精确等特点,获得了一些有意义的结果与结论,对空间交会相关研究和工程应用具有一定的参考价值。
Based on the rendezvous and docking knowledge background and the requirements of rendezvous and docking (AR&D) mission, this dissertation puts much emphasis on the guidance and control approaches of far-distance rendezvous based on the impulse and the finite thrust, near-distance rendezvous and approach operations by applying rendezvous theories. The rendezvous safety and simulation system modeling issues are analyzed conceptually and methodologically.
First, the rendezvous dynamic models are established. The GNC scheme system frame of the far-distance and near-distance rendezvous are designed respectively.
Second, the far-distance rendezvous trajectory optimization and the guidance approaches are researched. (1) Two far-distance multi-impulse orbit optimal approaches are proposed: Adopting the general states variables, a multi-phase-multi-dimension dynamic programming optimizing algorithm is implemented, and the energy optimal solution of two-impulse rendezvous are deduced; For the multi-impulse optimal problem of the time and energy performance indexes, a niche evolution algorithm which has a rapid convergence performance is put forward. (2) For the finite thrust guidance problem, the velocity-gain-guidance and E guidance are respectively studied for application, the parameter selecting principles and optimizing methods are given, and the implement problem of E guidance under the condition of constant finite thrust is solved with the PWPF modulator. (3) A combined guidance project with initial, middle, terminal guidance phases and free flight phase are planned. The mission planning with impulsive conditions and guidance with finite thrust are combined compactly. A project implementation model with the velocity-gain-guidance as the initial guidance, the E guidance as the terminal guidance is given. The project shows good autonomous and robust performances from the simulation results.
Third, the relative orbit control, attitude control and the rendezvous safety questions of near-distance rendezvous are studied. (1) In theory, the constrained time multi-impulse least norm solution and quadratic programming solution are given, and the general solution of non-constrained time nonlinear programming problem algorithm is put forward; A reference line-of-sight (LOS) multi-impulse rapid calculating guidance approach is studied, and the exponential and the power function transforms are put forward to optimize orbit kinetic characteristics; Applying the LOS guidance to the docking position operation, the parameter transformation methods and the guidance laws are designed. Based on the glidescope theory, the velocity control design approaches are proposed, and the concept of fast, exponential and slow approach orbits are defined; The approach phase orbit control is studied based on the sliding mode control, for the constant and non-constant thrust model, the control effects are analyzed under different control strategies; A gene-fuzzy control approach is studied for the fly-around and terminal approach phase, the modeling and optimization methods of the fuzzy table are given. Simulation results demonstrate the efficacy of the proposed approaches (2) For the relative attitude control problem, the attitude parameter invariable principle is proven under the parallel condition of the body and the docking panel coordinate system, and the transformation formulas of centroid motion parameters are deduced; The observability and controllability conditions of nonlinear attitude control system are proven; The phase variable model is attained by adopting the differential geometry theory, based on the algorithm of terminal sliding mode control, the attitude track is implemented when considering the disturbances. (3) The safety concept of the space rendezvous is improved, and several rendezvous strategies are given; Based on the rendezvous dynamic stochastic model, the computational equations of the collision probability are given and analyzed, and three kinds of simple models of collision avoidance are given.
Finally, the space rendezvous simulation system modeling frame is studied; The logic modeling of GNC system are completed by using UML diagrams; Based on design pattern theory the simulation system is abstracted, and three oriented-object design patterns for GNC of AR&D are given.
Combining theory with engineering practice, this dissertation proposes many approaches to solve the AR&D problems, and the performances of optimization, rapidness and precision are embodied in the design of the approaches. Some results and conclusions are significant and helpful to associate future space rendezvous researches.
引文
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[203]来源:新华网.受权发布:《2006年中国的航天》白皮书,2006年10月12日10:02:29