卫星跟飞编队控制问题研究
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摘要
随着航天科学技术的发展,人类对空间资源的开发越来越深入。卫星跟飞编队控制技术是空间服务和空间对抗的关键性基础技术,对它的研究将为卫星编队发展提供重要的技术支持。本文以对空间非合作目标进行跟踪编队飞行服务应用为研究背景,开展了跟飞编队控制相关问题研究,主要内容如下:
(1)跟飞编队构型设计:在给出本文研究的跟飞编队问题所涉及的基本概念和相对动力学方程的基础上,提出了任务约束下的跟飞构型设计方案,推导了满足任务约束的构型初始化约束条件,给出了典型构型参数,为跟飞编队构型设计奠定了基础。
(2)轨道交会控制与优化:在对跟飞编队问题涉及的交会任务进行分析的基础上,研究了基于Lambert冲量交会方法的交会控制算法,提出了考虑观测的双冲量交会求解算法;针对经典粒子群算法计算效率低下的问题,提出了多邻域改进粒子群算法,通过经典算法验证,该算法效率远优于现有一些算法;随后,提出了基于粒子群算法的有限推力轨道转移控制优化方案,解决了轨道交会控制的求解与优化问题。
(3)跟飞编队自主导航:针对跟飞编队的相对导航问题,设计了虚拟观测量及相应的测量矩阵,避免了求解雅可比矩阵的复杂计算;提出了模型误差在线估计算法,算法能够适应不同构型尺寸的编队导航需求;在此基础上,提出了基于自适应扩展卡尔曼滤波的相对导航算法,算法具有较快的收敛速度和较高的估计精度;为了提高稳态情况下的导航估计精度,进一步提出了基于超球面分布采样变换的无迹卡尔曼滤波(UKF)跟飞编队导航算法,算法估计精度明显优于扩展卡尔曼滤波。
(4)跟飞编队控制:在给出跟飞控制问题基本假设和标称构型方案的基础上,进行了绝对轨道参数预报偏差影响分析,给出了推力脉冲控制脉宽调制解决方案;针对构型捕获与重构控制问题,提出了沿径向等速转移重构方案,解决了视线约束下的构型重构问题;提出了跟飞编队李亚普诺夫控制律,该控制律能够完成大偏差下的构型捕获与重构控制;为了提高稳态控制精度,提出了基于椭圆参考轨道的线性二次型调节器编队精确保持控制律,算法在轨道面内和法向方向进行独立控制,具有较高的构型保持精度。
(5)编队安全防碰撞:在完成编队碰撞影响因素分析的基础上,提出了碰撞因素解决策略;提出了基于拟瞬时最大碰撞概率的碰撞预警策略和基于变尺度直接逼近算法的编队碰撞预警算法,该算法明显提高了碰撞预警计算效率。
(6)编队分布式仿真系统:为了解决卫星编队分布式仿真系统的设计与开发问题,提出了分布式仿真软件三层设计开发模式,并以此给出了编队分布式仿真系统的总体设计方案;通过对卫星编队仿真数据管理任务的分析,提出了卫星编队仿真通用数据管理系统方案,该方案能够完成各种复杂仿真数据的管理任务,使得数据重用和管理更加便利。
With the continually progressing of space technology, the mankind’s explorations to the space resources become more extensive. The control technology for leader-follower satellite formation flying is the basic issue of the space services and counterspace applications. The research on these key problems would be great support for the development of satellite formation flying applications. This dissertation studies the control problems of the leader-follower satellite formation flying, based on the non- collaborated target’s service application. The main work and achievements are summarized as follows:
(1) The design problems for the leader-follower satellite formation are studied. The definitions and the relative dynamics equations involved in the leader-follower satellite formation flying application are presented. Based on those, the formation design scheme is proposed under the flying task’s constrains. The initial conditions for the formation’s initialization are derived. The typical formation parameters are also presented, which would be the foundation of the leader-follower satellite formation’s design.
(2) The rendezvous control and optimization problems are studied. After the analysis of rendezvous problems related to the leader-follower satellite formation flying application, the control theory based on Lambert impulse rendezvous algorithm are studied. An iterative algorithm for optimal dual-impulse rendezvous incorporating ground observations is proposed. The Multi-Neighborhood Improved Particle Swarm Optimization Algorithm (MNI-PSO) is proposed, for the purpose of improving the capability of the standard Particle Swarm Optimization (PSO). The optimization results of the classical testing problems show that, the MNI-PSO has performed a great capability for the complex optimization problems, and its performance is better than some another popular algorithms. After that, the optimization scheme of the limited thrust rendezvous based on MNI-PSO is proposed, which solved the rendezvous control and optimization problems.
(3) The autonomous navigation problems for the leader-follower satellite formation are studied. Focused on the relative navigation problems for the leader-follower satellite formation flying application, a dummy variable expression of the measuring parameters and matrix is proposed, avoiding the complex calculation for the Jacobi matrix. The online estimation of the model error covariance matrix is formulated to adapt the formation changing. Based on those above, the navigation algorithm of adaptive extended Kalman filter is presented, which is rapid convergence and has a high estimate precision. For the purpose of increasing the estimate precision of steady state, the navigation algorithm based on the Spherical Simplex Unscented Transformation Kalman Filter (SSUKF) is proposed. The algorithm’s estimate precision is better than extended Kalman filter obviously.
(4) The formation control problems for the leader-follower satellite formation are studied. Under the basic assumptions of control problems and typical scheme of nominal formation, the influences of the absolute orbit forecast decination are analyzed. The pulse-width modulation scheme is presented for the propulsion output modulation. An in-track direction drift transition formation is proposed for the leader-follower formation capture and reconfiguration under vision constrains. The Lyapunov control law basing ellipse reference orbit is proposed, which used for the leader-follower formation control under a large aberration. For the sake of improve the control abilities under steady state, the Linear Quadratic Regulator (LQR) control law basing on ellipse reference orbit is proposed, which separated into two independent controls in the orbit plane and orbit normal direction. The LQR control law has a high formation keeping precision.
(5) The formation safeties of collision avoiding problems for the leader-follower satellite formation are studied. The factors affecting collision probabilities between formation-flying satellites are concluded and discussed. Solutions to those factors are proposed. The collision forecast strategy based on the quasi maximum instantaneous collision probability (Q-MICP) is proposed, for the collision monitoring problem of the formation-flying satellites. The calculation of the Q-MICP needs derivation of the minimum distance and happen epoch in the early-warning time period. The scaled step-size directly approaching (SSDA) algorithm is proposed creatively, based on the analysis of the derived function of the squared distance, for the pole searching of the function. It can solve the problem of the minimum distance’s acquisition. The algorithm has improved the efficiency of collision forecast obviously.
(6) The Distributed Interactive Simulation (DIS) problems for the leader-follower satellite formation are studied. Three-Level Design Pattern (TLDP) is proposed creatively, for the purpose of solving satellite formation DIS software design and development problems. The system design is presented for the satellite formation flying simulation, based on the TLDP. Through the detail analysis of the simulation data management tasks, the scheme of the Satellite Formation Simulation Data Management System (SFSDMS) is proposed creatively. The SFSDMS give us a universal tool for the data management of different simulations, which makes the data reuse more convenient.
(1)跟飞编队构型设计:在给出本文研究的跟飞编队问题所涉及的基本概念和相对动力学方程的基础上,提出了任务约束下的跟飞构型设计方案,推导了满足任务约束的构型初始化约束条件,给出了典型构型参数,为跟飞编队构型设计奠定了基础。
(2)轨道交会控制与优化:在对跟飞编队问题涉及的交会任务进行分析的基础上,研究了基于Lambert冲量交会方法的交会控制算法,提出了考虑观测的双冲量交会求解算法;针对经典粒子群算法计算效率低下的问题,提出了多邻域改进粒子群算法,通过经典算法验证,该算法效率远优于现有一些算法;随后,提出了基于粒子群算法的有限推力轨道转移控制优化方案,解决了轨道交会控制的求解与优化问题。
(3)跟飞编队自主导航:针对跟飞编队的相对导航问题,设计了虚拟观测量及相应的测量矩阵,避免了求解雅可比矩阵的复杂计算;提出了模型误差在线估计算法,算法能够适应不同构型尺寸的编队导航需求;在此基础上,提出了基于自适应扩展卡尔曼滤波的相对导航算法,算法具有较快的收敛速度和较高的估计精度;为了提高稳态情况下的导航估计精度,进一步提出了基于超球面分布采样变换的无迹卡尔曼滤波(UKF)跟飞编队导航算法,算法估计精度明显优于扩展卡尔曼滤波。
(4)跟飞编队控制:在给出跟飞控制问题基本假设和标称构型方案的基础上,进行了绝对轨道参数预报偏差影响分析,给出了推力脉冲控制脉宽调制解决方案;针对构型捕获与重构控制问题,提出了沿径向等速转移重构方案,解决了视线约束下的构型重构问题;提出了跟飞编队李亚普诺夫控制律,该控制律能够完成大偏差下的构型捕获与重构控制;为了提高稳态控制精度,提出了基于椭圆参考轨道的线性二次型调节器编队精确保持控制律,算法在轨道面内和法向方向进行独立控制,具有较高的构型保持精度。
(5)编队安全防碰撞:在完成编队碰撞影响因素分析的基础上,提出了碰撞因素解决策略;提出了基于拟瞬时最大碰撞概率的碰撞预警策略和基于变尺度直接逼近算法的编队碰撞预警算法,该算法明显提高了碰撞预警计算效率。
(6)编队分布式仿真系统:为了解决卫星编队分布式仿真系统的设计与开发问题,提出了分布式仿真软件三层设计开发模式,并以此给出了编队分布式仿真系统的总体设计方案;通过对卫星编队仿真数据管理任务的分析,提出了卫星编队仿真通用数据管理系统方案,该方案能够完成各种复杂仿真数据的管理任务,使得数据重用和管理更加便利。
With the continually progressing of space technology, the mankind’s explorations to the space resources become more extensive. The control technology for leader-follower satellite formation flying is the basic issue of the space services and counterspace applications. The research on these key problems would be great support for the development of satellite formation flying applications. This dissertation studies the control problems of the leader-follower satellite formation flying, based on the non- collaborated target’s service application. The main work and achievements are summarized as follows:
(1) The design problems for the leader-follower satellite formation are studied. The definitions and the relative dynamics equations involved in the leader-follower satellite formation flying application are presented. Based on those, the formation design scheme is proposed under the flying task’s constrains. The initial conditions for the formation’s initialization are derived. The typical formation parameters are also presented, which would be the foundation of the leader-follower satellite formation’s design.
(2) The rendezvous control and optimization problems are studied. After the analysis of rendezvous problems related to the leader-follower satellite formation flying application, the control theory based on Lambert impulse rendezvous algorithm are studied. An iterative algorithm for optimal dual-impulse rendezvous incorporating ground observations is proposed. The Multi-Neighborhood Improved Particle Swarm Optimization Algorithm (MNI-PSO) is proposed, for the purpose of improving the capability of the standard Particle Swarm Optimization (PSO). The optimization results of the classical testing problems show that, the MNI-PSO has performed a great capability for the complex optimization problems, and its performance is better than some another popular algorithms. After that, the optimization scheme of the limited thrust rendezvous based on MNI-PSO is proposed, which solved the rendezvous control and optimization problems.
(3) The autonomous navigation problems for the leader-follower satellite formation are studied. Focused on the relative navigation problems for the leader-follower satellite formation flying application, a dummy variable expression of the measuring parameters and matrix is proposed, avoiding the complex calculation for the Jacobi matrix. The online estimation of the model error covariance matrix is formulated to adapt the formation changing. Based on those above, the navigation algorithm of adaptive extended Kalman filter is presented, which is rapid convergence and has a high estimate precision. For the purpose of increasing the estimate precision of steady state, the navigation algorithm based on the Spherical Simplex Unscented Transformation Kalman Filter (SSUKF) is proposed. The algorithm’s estimate precision is better than extended Kalman filter obviously.
(4) The formation control problems for the leader-follower satellite formation are studied. Under the basic assumptions of control problems and typical scheme of nominal formation, the influences of the absolute orbit forecast decination are analyzed. The pulse-width modulation scheme is presented for the propulsion output modulation. An in-track direction drift transition formation is proposed for the leader-follower formation capture and reconfiguration under vision constrains. The Lyapunov control law basing ellipse reference orbit is proposed, which used for the leader-follower formation control under a large aberration. For the sake of improve the control abilities under steady state, the Linear Quadratic Regulator (LQR) control law basing on ellipse reference orbit is proposed, which separated into two independent controls in the orbit plane and orbit normal direction. The LQR control law has a high formation keeping precision.
(5) The formation safeties of collision avoiding problems for the leader-follower satellite formation are studied. The factors affecting collision probabilities between formation-flying satellites are concluded and discussed. Solutions to those factors are proposed. The collision forecast strategy based on the quasi maximum instantaneous collision probability (Q-MICP) is proposed, for the collision monitoring problem of the formation-flying satellites. The calculation of the Q-MICP needs derivation of the minimum distance and happen epoch in the early-warning time period. The scaled step-size directly approaching (SSDA) algorithm is proposed creatively, based on the analysis of the derived function of the squared distance, for the pole searching of the function. It can solve the problem of the minimum distance’s acquisition. The algorithm has improved the efficiency of collision forecast obviously.
(6) The Distributed Interactive Simulation (DIS) problems for the leader-follower satellite formation are studied. Three-Level Design Pattern (TLDP) is proposed creatively, for the purpose of solving satellite formation DIS software design and development problems. The system design is presented for the satellite formation flying simulation, based on the TLDP. Through the detail analysis of the simulation data management tasks, the scheme of the Satellite Formation Simulation Data Management System (SFSDMS) is proposed creatively. The SFSDMS give us a universal tool for the data management of different simulations, which makes the data reuse more convenient.
引文
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