面向空间任务的追踪理论与应用研究
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摘要
本文面向分布式卫星系统构形重构与反卫星卫星对抗任务,借鉴生物运动的追踪策略,开展循环追踪算法在编队构形重构、运动伪装算法在对抗武器隐身轨迹设计方面的理论与应用研究。具体研究内容如下:
本文提出了满足分布式卫星系统自主重构要求、具有局部稳定性的构形重构控制算法。引入“虚拟灯塔”导引改进已有非线性循环追踪控制算法,得到兼具构形调整、集体定位功能的“虚拟灯塔”导引非线性循环追踪控制算法;根据两种算法的矛盾性,调整参数设置,使定速的非线性循环追踪、变速的非线性循环追踪、“虚拟灯塔”导引定位三种算法的运动规律及其稳定性得到统一;应用所设计控制算法到全员运动,或成员之一的单员运动,得到编队均可以达到期望构形的结论;对特征值的分析证明,两种受控方式下的系统均具有局部稳定性。
结合所设计算法,采用脉冲推力与连续小推力控制,对分布式卫星系统进行构形调整分析。提出平面内采用循环追踪、绕飞面法向施行比例微分反馈的控制律设计方法;配合多脉冲与连续控制方案,对编队向参考中心回收、编队半径大小调整、编队相位调整以及线形编队构形保持等任务进行了仿真分析;根据控制过程中循环追踪算法与“虚拟灯塔”导引算法施行的制约性,给出了控制增益设置建议;由连续小推力一定范围能量不足、循环追踪链一处断裂时的构形调整情况,得到所设计循环追踪相关控制方法具有较高可靠性与稳定性的结论。
在个体运动伪装策略的空间任务应用中,主要面向反卫星卫星对抗任务,假设反卫星卫星无测距设备且对抗武器始终呈现点图像,进行了对抗武器隐身轨迹的设计与控制实现研究。建立了对抗武器隐身轨迹的多脉冲控制模型,实现了参数配置优化;分析得到多脉冲的运动伪装更适宜于快速攻击,提出一种在线次最优的最小时间控制策略;为实现隐身轨迹的精确控制,采用连续小推力的控制方式,建立其作用下的空间运动伪装模型;根据其初始相对速率为零的边界条件限制,设计隐身轨迹,对能量消耗最小时的攻击时间值与推力约束下的攻击过程时间可行域进行求解;采用伪谱法优化位置比率曲线,实现无攻击过程时间约束下的能量优化;依据欺骗对象与攻击目标分离的数学原理,建立了基于运动伪装策略的小行星软着陆、硬着陆模型,航天器交会对接模型。
空间小型武器的进攻,群组型的方式不仅能提高命中概率,还能有效减弱其图像不为点图像时运动伪装带来的隐现效应。仍假设反卫星卫星无测距设备但能感知图像大小变化,引入组织型、编队型与集团型的群组型运动伪装,建立了分别以时间、距离为指标、按“获取目标信息”与“获取领导者信息”两种方式、位置比率为二次函数的空间线形编队运动伪装模型;结合编队型与集团型群组构成的特点,提出V形集团的运动方式,推导其构形保持与图像隐现抑制下的构形变换模型,对运动过程进行了仿真分析。
本文面向循环追踪算法对分布式卫星的构形调整、运动伪装算法设计对抗反卫星卫星武器的隐身轨迹两大任务,系统研究了相应控制算法的理论、模型与应用规律。指出两种算法的适用特点符合现代空间技术的发展方向,因此带给解决相关问题的全新启示。
Inspired by the pursuit strategy in creatures’motion, this paper makes a research on the principles and application of cyclic pursuit algorithm in satellites formation reconfiguration and motion camouflage algorithm in space weapon counteracting anti-satellite satellite. The main contents are shown as follows.
The control laws which meet with satellites formation autonomous reconfiguration requirements with local stability characteristics are obtained. Virtual Beacon’s Guidance is integrated to improve the existing Nonlinear Cyclic Pursuit law to deduce a method of Nonlinear Cyclic Pursuit & Beacon’s Guidance in which the formation can get reconfiguration and reorientation simultaneously. On account of their contradiction, control gain is reset to coordinate the system’s motion and stability in control. Analysis and simulation results prove the mission could be achieved whether Nonlinear Cyclic Pursuit & Beacon’s Guidance is applied to the crew or only a single member. In addition, to verify the local asymptotical stability of the motion, special techniques are adopted.
Applying the control laws to Distributed Satellite Systems reconfiguration, thus the rules of their utilization in missions by means of impulses or low-thrust system are deduced. In consider of the motion regulation in aerodynamics, the idea of planar cyclic pursuit and normal proportional derivative feedback combined control laws are proposed. Since multi-impulses and continuous low thruster are the most popular power plants, missions of formation recovery to reference center, separation adjustment, phase angle adjustment, and linear configuration maintanence are simulated. In addition, presumption of impetus’insufficiency and one breakdown of pursuit chain are set, on which the pursuit tasks could still be achieved in simulation, so that these control methods are considered of high reliability and stability in conclusion.
In single Motion Camouflage aspect, the camouflage trajectories of weapons in counteracting anti-satellite satellite are studied on the assumption there is no telemeter installed on the target and the weapon’s image is always in a pixel. The models of stealth trajectories are established in multi-impulse system in which parameters setting are optimized and relevant rules are deduced. Based on the formal analysis, multi-impulse system is more preferred in short period attack, an on-line suboptimal minimal approaching time consumption method is developed and progressively, the space relative motion camouflage in low continuous thrust model is developed. To meet with the boundary constraint of initial zero relative rates, a special camouflage trajectory is obtained along with the analytical expressions of accelerations in need, time consumption in minimal fuel consumption and feasible region of progress duration in thrust restriction. In addition, Pseudo-spectral method is integrated to optimize the position ratio in fuel consideration. In view of the mathematical fundamentals of Motion Camouflage, models of asteroid soft landing and hard landing, as well as model of rendezvous and docking are developed.
Multi-agents’team work in Motion Camouflage can not only enhance the shooting probability, but also reduce the looming cues. In view of the team work and still on the presumption there is no telemeter installed on the target but the image change can be detected, approaching types of pack hunting, flying in formation and flying in swarm are introduced. Especially for the follower’s motion in formation, resolution to the control if position information is about the target or the leader with boundary contraints are deduced. Take the advantage of motion in V-formation and in swarm, formation configuration in V-swarm is proposed, and models of configuration maintainence and looming cues reduction are developed and simulated.
In summary, this paper aiming at resolving satellites reconfiguration in Cyclic Pursuit and developing camouflage trajectories for space weapons to counteract anti-satellite satellite has made a systematical research on relevant principles, models and application regulations. Matching upto the development of science and technology, control laws studied in this paper are believed to have a good prospect in future engineering application.
本文提出了满足分布式卫星系统自主重构要求、具有局部稳定性的构形重构控制算法。引入“虚拟灯塔”导引改进已有非线性循环追踪控制算法,得到兼具构形调整、集体定位功能的“虚拟灯塔”导引非线性循环追踪控制算法;根据两种算法的矛盾性,调整参数设置,使定速的非线性循环追踪、变速的非线性循环追踪、“虚拟灯塔”导引定位三种算法的运动规律及其稳定性得到统一;应用所设计控制算法到全员运动,或成员之一的单员运动,得到编队均可以达到期望构形的结论;对特征值的分析证明,两种受控方式下的系统均具有局部稳定性。
结合所设计算法,采用脉冲推力与连续小推力控制,对分布式卫星系统进行构形调整分析。提出平面内采用循环追踪、绕飞面法向施行比例微分反馈的控制律设计方法;配合多脉冲与连续控制方案,对编队向参考中心回收、编队半径大小调整、编队相位调整以及线形编队构形保持等任务进行了仿真分析;根据控制过程中循环追踪算法与“虚拟灯塔”导引算法施行的制约性,给出了控制增益设置建议;由连续小推力一定范围能量不足、循环追踪链一处断裂时的构形调整情况,得到所设计循环追踪相关控制方法具有较高可靠性与稳定性的结论。
在个体运动伪装策略的空间任务应用中,主要面向反卫星卫星对抗任务,假设反卫星卫星无测距设备且对抗武器始终呈现点图像,进行了对抗武器隐身轨迹的设计与控制实现研究。建立了对抗武器隐身轨迹的多脉冲控制模型,实现了参数配置优化;分析得到多脉冲的运动伪装更适宜于快速攻击,提出一种在线次最优的最小时间控制策略;为实现隐身轨迹的精确控制,采用连续小推力的控制方式,建立其作用下的空间运动伪装模型;根据其初始相对速率为零的边界条件限制,设计隐身轨迹,对能量消耗最小时的攻击时间值与推力约束下的攻击过程时间可行域进行求解;采用伪谱法优化位置比率曲线,实现无攻击过程时间约束下的能量优化;依据欺骗对象与攻击目标分离的数学原理,建立了基于运动伪装策略的小行星软着陆、硬着陆模型,航天器交会对接模型。
空间小型武器的进攻,群组型的方式不仅能提高命中概率,还能有效减弱其图像不为点图像时运动伪装带来的隐现效应。仍假设反卫星卫星无测距设备但能感知图像大小变化,引入组织型、编队型与集团型的群组型运动伪装,建立了分别以时间、距离为指标、按“获取目标信息”与“获取领导者信息”两种方式、位置比率为二次函数的空间线形编队运动伪装模型;结合编队型与集团型群组构成的特点,提出V形集团的运动方式,推导其构形保持与图像隐现抑制下的构形变换模型,对运动过程进行了仿真分析。
本文面向循环追踪算法对分布式卫星的构形调整、运动伪装算法设计对抗反卫星卫星武器的隐身轨迹两大任务,系统研究了相应控制算法的理论、模型与应用规律。指出两种算法的适用特点符合现代空间技术的发展方向,因此带给解决相关问题的全新启示。
Inspired by the pursuit strategy in creatures’motion, this paper makes a research on the principles and application of cyclic pursuit algorithm in satellites formation reconfiguration and motion camouflage algorithm in space weapon counteracting anti-satellite satellite. The main contents are shown as follows.
The control laws which meet with satellites formation autonomous reconfiguration requirements with local stability characteristics are obtained. Virtual Beacon’s Guidance is integrated to improve the existing Nonlinear Cyclic Pursuit law to deduce a method of Nonlinear Cyclic Pursuit & Beacon’s Guidance in which the formation can get reconfiguration and reorientation simultaneously. On account of their contradiction, control gain is reset to coordinate the system’s motion and stability in control. Analysis and simulation results prove the mission could be achieved whether Nonlinear Cyclic Pursuit & Beacon’s Guidance is applied to the crew or only a single member. In addition, to verify the local asymptotical stability of the motion, special techniques are adopted.
Applying the control laws to Distributed Satellite Systems reconfiguration, thus the rules of their utilization in missions by means of impulses or low-thrust system are deduced. In consider of the motion regulation in aerodynamics, the idea of planar cyclic pursuit and normal proportional derivative feedback combined control laws are proposed. Since multi-impulses and continuous low thruster are the most popular power plants, missions of formation recovery to reference center, separation adjustment, phase angle adjustment, and linear configuration maintanence are simulated. In addition, presumption of impetus’insufficiency and one breakdown of pursuit chain are set, on which the pursuit tasks could still be achieved in simulation, so that these control methods are considered of high reliability and stability in conclusion.
In single Motion Camouflage aspect, the camouflage trajectories of weapons in counteracting anti-satellite satellite are studied on the assumption there is no telemeter installed on the target and the weapon’s image is always in a pixel. The models of stealth trajectories are established in multi-impulse system in which parameters setting are optimized and relevant rules are deduced. Based on the formal analysis, multi-impulse system is more preferred in short period attack, an on-line suboptimal minimal approaching time consumption method is developed and progressively, the space relative motion camouflage in low continuous thrust model is developed. To meet with the boundary constraint of initial zero relative rates, a special camouflage trajectory is obtained along with the analytical expressions of accelerations in need, time consumption in minimal fuel consumption and feasible region of progress duration in thrust restriction. In addition, Pseudo-spectral method is integrated to optimize the position ratio in fuel consideration. In view of the mathematical fundamentals of Motion Camouflage, models of asteroid soft landing and hard landing, as well as model of rendezvous and docking are developed.
Multi-agents’team work in Motion Camouflage can not only enhance the shooting probability, but also reduce the looming cues. In view of the team work and still on the presumption there is no telemeter installed on the target but the image change can be detected, approaching types of pack hunting, flying in formation and flying in swarm are introduced. Especially for the follower’s motion in formation, resolution to the control if position information is about the target or the leader with boundary contraints are deduced. Take the advantage of motion in V-formation and in swarm, formation configuration in V-swarm is proposed, and models of configuration maintainence and looming cues reduction are developed and simulated.
In summary, this paper aiming at resolving satellites reconfiguration in Cyclic Pursuit and developing camouflage trajectories for space weapons to counteract anti-satellite satellite has made a systematical research on relevant principles, models and application regulations. Matching upto the development of science and technology, control laws studied in this paper are believed to have a good prospect in future engineering application.
引文
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