太阳帆航天器姿态控制与轨迹优化研究
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摘要
随着航天领域日新月异的发展,人类的足迹也从地球家园迈向了茫茫太空。太阳帆技术作为一类新颖的航天技术,为人类深入探索太阳系以至实现星际航行提供了有利的技术支撑。太阳帆是一种利用太阳光压产生持续推力的推进器,可以给航天器提供连续小推力,且自身无需携带大量燃料,适合于运行在一些非传统任务轨道上,可用于极地高纬度地区的成像和实时通讯、类地行星的探测、采样返回等科学任务。因此在深空探测和星际航行等航天领域具有广阔的应用前景,近年来得到了国际航天界广泛关注。
太阳帆航天器的显著特点是其大尺度薄膜帆面、支撑杆等柔性结构与姿态动力学之间强耦合、非线性的关系,即姿态调整会诱发柔性结构振动,影响航天器的推力大小和方向,进而对姿态调整造成扰动。此外,相对于传统航天器,太阳帆航天器转移至目标轨道的周期相对较长,需要根据任务优化太阳帆航天器在初始轨道和目标轨道之间的转移轨迹。因此,开展太阳帆航天器的动力学建模与姿态控制研究,以及太阳帆航天器转移轨迹的优化研究具有重要的现实意义和理论价值。
本文主要研究了太阳帆航天器的姿态动力学建模与控制,及其轨道转移的优化问题。基于目前典型的太阳帆构型及其刚体动力学模型,结合刚柔耦合动力学的研究进展,分别研究了太阳帆航天器线性姿态动力学模型和非线性姿态动力学模型,以及相应的姿态控制方法。针对太阳帆航天器轨迹优化问题的特点,结合进化算法和多目标方法最新的研究成果,对太阳帆航天器实现不同任务的最优转移轨迹问题进行了研究。
现有文献研究表明,太阳帆航天器俯仰轴刚体动力学模型无法准确反映其柔性结构特征。本文第2章在分析了分别采用万向节控制和反作用喷气推力器控制的太阳帆航天器刚体动力学响应的基础上,结合混合坐标法的思想,建立了具有刚柔耦合特征的太阳帆航天器姿态动力学模型。为了抑制太阳帆航天器在姿态调整过程中诱发的柔性结构振动,保证其姿态调整的精确性和稳定性,针对建立的太阳帆航天器刚柔耦合动力学模型,设计了H∞控制器,实现了太阳帆航天器渐近跟踪目标姿态角,同时能够抑制柔性结构的诱发振动。
完全小角度近似无法准确描述太阳帆航天器的动力学特性。本文第3章首先建立了采用万向节力矩控制和反作用推力控制同时作用的太阳帆航天器俯仰轴非线性刚体动力学模型,并通过混合坐标法,推导得到太阳帆航天器刚柔耦合非线性姿态动力学模型。在此基础上,对姿态角变化率、万向节角度及其变化率采用局部小角度近似,并通过将该模型转化为相应形式的矩阵二阶系统,进而通过满足一系列假设条件,将太阳帆航天器刚柔耦合非线性姿态动力学模型转化为一类Polytopic LPV系统。然后针对该系统设计线性状态反馈控制律,并把该控制律参数的求解转化为LMI约束下的凸优化问题。最后由太阳帆航天器跟踪目标姿态角的仿真算例验证了该方法的有效性。
太阳帆航天器自身携带的能量有限,其姿态调整过程具有周期长,幅度小的特点。针对该特点,本文第4章基于直接打靶法,采用分段线性插值方法逼近连续时间的姿态角变化,进而结合太阳帆运动学的特点,将太阳帆轨道转移的最优控制问题转化为参数优化问题。然后分别采用差分进化算法和改进的帝国竞争算法对太阳帆航天器完成多种任务的转移轨迹进行优化,并比较分析了优化结果。
太阳帆航天器轨迹优化的特点是目标与约束之间具有制约关系,采用多目标.优化的相关理论可以处理此类问题。本文第5章提出了一种基于非支配分类的宇宙扩缩(Nondominated Sorting Big Bang-Big Crunch, NSBBBC)方法,通过采用阈值比较选择策略和精英保持策略以及一种无惩罚参数的约束处理方法,对太阳帆航天器的轨迹优化问题分类进行研究,并通过数值算例验证了所提出的方法的可行性。
With the rapid progress in the aerospace field, the human have left their footprints in a vast space from their homes on the earth. As a class of novel space technology, solar sail offers a broad prospect for human to achieve in-depth exploration of the solar system and even interplanetary flight. Solar sail is a thruster propelled by means of a continuous sunlight pressure, which can provide a continuous low-thrust for the spacecraft. It does not need to carry large amounts of fuel, and can be used to fight on the orbit of some non-traditional tasks, such as imaging and real-time communication of high-latitude regions of the earth, detection of terrestrial planets, sample return mission and so on. Therefore, solar sail technology has broad application prospects for deep space exploration and interplanetary flight, and has been concerned widely by the international aerospace community in recent years.
The features of solar sail spacecraft include the intense coupling and nonlinear relationship between the attitude dynamics and its flexible structure such as the large-scale film sail and booms. Namely attitude adjustment will induce flexible structural vibration, thereby affect the spacecraft's thrust magnitude and direction. Furthermore, compared with conventional spacecraft, solar sail spacecraft needs a relatively long period for transferring to the target orbit, thus it is necessary to optimize the transfer trajectory of solar sail spacecraft between the initial orbit and the target orbit. Consequently, researches on attitude dynamics modeling and control of solar sail spacecraft, and its transfer trajectory optimization have important practical significance and an extremely high theoretical value.
This paper is mainly focused on attitude dynamics modeling and control of solar sail spacecraft, and its orbit transfer optimization problem. Based on the current typical configuration of solar sail and its rigid dynamics model, combined with the relevant research of rigid-flexible coupling dynamics, the linear and nonlinear attitude dynamics model of solar sail spacecraft and the corresponding attitude control method were studied respectively. For solar sail spacecraft trajectory optimization problems, in the light of the latest researches on he evolutionary algorithm and the multi-objective methods, the optimal transfer trajectory of the solar sail spacecraft for different tasks are studied.
Existing literature shows that the pitch-axis rigid body dynamic model of solar sail spacecraft can not accurately describe the characteristics of its flexible structures. In Chapter Two, dynamic responses of solar sail spacecraft rigid body model controlled by the gimbal system and reaction jet were analyzed respectively. Based on the rigid body dynamics, combined with the idea of the hybrid coordinate method, solar sail spacecraft attitude dynamics model with the rigid-flexible coupling characteristics was established. In order to suppress the vibration of flexible structures induced by the attitude adjustment process of solar sail spacecraft, and ensure its accuracy and stability of the attitude adjustment, the Hoo controller was designed for the rigid-flexible coupling dynamics model of solar sail spacecraft. The goal of control is to achieve the asymptotic tracking of the target attitude angle, and robust vibration suppression of flexible structures.
Small angle approximation of solar sail spacecraft dynamics model can not accurately describe its dynamics. In Chapter Three, the pitch-axis nonlinear rigid body dynamics model controlled by the gimbal torque and reaction jet force was established firstly. Then through the hybrid coordinate method, solar sail spacecraft nonlinear rigid-flexible coupling attitude dynamics model was derived. Based on the model, a local small-angle approximation was performed on the attitude angular change rate, gimbal angel and its change rate, and the model was transformed into the form of matrix second-order system. And under some assumptions, solar sail spacecraft rigid-flexible coupling nonlinear attitude dynamics model was translated into a class of polytopic linear parameter varying (LPV) system. And then the linear state feedback control law was designed for the system, and the solution of the control law parameters was obtained by solving the convex optimization problem with linear matrix inequality (LMI) constraints. Finally the simulation example of solar sail spacecraft attitude angle tracking demonstrates the effectiveness of the method.
The fuel carried by the solar sail spacecraft is limited, and its attitude adjustment has the characteristics of a long period and small magnitudes. Considering those features, based on idea of the direct shooting method, the piecewise linear interpolation method was used in Chapter Four for approximation of continuous-time changes of attitude angle. And then combined with the mechanical model and the features of solar sail trajectory optimization, solar sail orbit transfer optimal control problem was turned into parameter optimization problem. Then differential evolution algorithm and the improved imperialist competitive algorithm were used respectively to achieve the transfer trajectory optimization of solar sail spacecraft for a variety of tasks, and the optimization results are comparative analyzed.
The solar sail spacecraft trajectory optimization was characterized by the inherent constraints on the parameters to be optimised, and the multi-objective optimization theory can be used to deal with such problems. In Chapter Five, a Nondominated Sorting Big Bang-Big Crunch (NSBBBC) method was proposed, through the proposed threshold selection strategy and elitists'preservation scheme, as well as a constraint handling approach without penalty parameters, the solar sail spacecraft trajectory optimization problems were classified and studied. Finally, the feasibility of the approach was verified by numerical examples.
太阳帆航天器的显著特点是其大尺度薄膜帆面、支撑杆等柔性结构与姿态动力学之间强耦合、非线性的关系,即姿态调整会诱发柔性结构振动,影响航天器的推力大小和方向,进而对姿态调整造成扰动。此外,相对于传统航天器,太阳帆航天器转移至目标轨道的周期相对较长,需要根据任务优化太阳帆航天器在初始轨道和目标轨道之间的转移轨迹。因此,开展太阳帆航天器的动力学建模与姿态控制研究,以及太阳帆航天器转移轨迹的优化研究具有重要的现实意义和理论价值。
本文主要研究了太阳帆航天器的姿态动力学建模与控制,及其轨道转移的优化问题。基于目前典型的太阳帆构型及其刚体动力学模型,结合刚柔耦合动力学的研究进展,分别研究了太阳帆航天器线性姿态动力学模型和非线性姿态动力学模型,以及相应的姿态控制方法。针对太阳帆航天器轨迹优化问题的特点,结合进化算法和多目标方法最新的研究成果,对太阳帆航天器实现不同任务的最优转移轨迹问题进行了研究。
现有文献研究表明,太阳帆航天器俯仰轴刚体动力学模型无法准确反映其柔性结构特征。本文第2章在分析了分别采用万向节控制和反作用喷气推力器控制的太阳帆航天器刚体动力学响应的基础上,结合混合坐标法的思想,建立了具有刚柔耦合特征的太阳帆航天器姿态动力学模型。为了抑制太阳帆航天器在姿态调整过程中诱发的柔性结构振动,保证其姿态调整的精确性和稳定性,针对建立的太阳帆航天器刚柔耦合动力学模型,设计了H∞控制器,实现了太阳帆航天器渐近跟踪目标姿态角,同时能够抑制柔性结构的诱发振动。
完全小角度近似无法准确描述太阳帆航天器的动力学特性。本文第3章首先建立了采用万向节力矩控制和反作用推力控制同时作用的太阳帆航天器俯仰轴非线性刚体动力学模型,并通过混合坐标法,推导得到太阳帆航天器刚柔耦合非线性姿态动力学模型。在此基础上,对姿态角变化率、万向节角度及其变化率采用局部小角度近似,并通过将该模型转化为相应形式的矩阵二阶系统,进而通过满足一系列假设条件,将太阳帆航天器刚柔耦合非线性姿态动力学模型转化为一类Polytopic LPV系统。然后针对该系统设计线性状态反馈控制律,并把该控制律参数的求解转化为LMI约束下的凸优化问题。最后由太阳帆航天器跟踪目标姿态角的仿真算例验证了该方法的有效性。
太阳帆航天器自身携带的能量有限,其姿态调整过程具有周期长,幅度小的特点。针对该特点,本文第4章基于直接打靶法,采用分段线性插值方法逼近连续时间的姿态角变化,进而结合太阳帆运动学的特点,将太阳帆轨道转移的最优控制问题转化为参数优化问题。然后分别采用差分进化算法和改进的帝国竞争算法对太阳帆航天器完成多种任务的转移轨迹进行优化,并比较分析了优化结果。
太阳帆航天器轨迹优化的特点是目标与约束之间具有制约关系,采用多目标.优化的相关理论可以处理此类问题。本文第5章提出了一种基于非支配分类的宇宙扩缩(Nondominated Sorting Big Bang-Big Crunch, NSBBBC)方法,通过采用阈值比较选择策略和精英保持策略以及一种无惩罚参数的约束处理方法,对太阳帆航天器的轨迹优化问题分类进行研究,并通过数值算例验证了所提出的方法的可行性。
With the rapid progress in the aerospace field, the human have left their footprints in a vast space from their homes on the earth. As a class of novel space technology, solar sail offers a broad prospect for human to achieve in-depth exploration of the solar system and even interplanetary flight. Solar sail is a thruster propelled by means of a continuous sunlight pressure, which can provide a continuous low-thrust for the spacecraft. It does not need to carry large amounts of fuel, and can be used to fight on the orbit of some non-traditional tasks, such as imaging and real-time communication of high-latitude regions of the earth, detection of terrestrial planets, sample return mission and so on. Therefore, solar sail technology has broad application prospects for deep space exploration and interplanetary flight, and has been concerned widely by the international aerospace community in recent years.
The features of solar sail spacecraft include the intense coupling and nonlinear relationship between the attitude dynamics and its flexible structure such as the large-scale film sail and booms. Namely attitude adjustment will induce flexible structural vibration, thereby affect the spacecraft's thrust magnitude and direction. Furthermore, compared with conventional spacecraft, solar sail spacecraft needs a relatively long period for transferring to the target orbit, thus it is necessary to optimize the transfer trajectory of solar sail spacecraft between the initial orbit and the target orbit. Consequently, researches on attitude dynamics modeling and control of solar sail spacecraft, and its transfer trajectory optimization have important practical significance and an extremely high theoretical value.
This paper is mainly focused on attitude dynamics modeling and control of solar sail spacecraft, and its orbit transfer optimization problem. Based on the current typical configuration of solar sail and its rigid dynamics model, combined with the relevant research of rigid-flexible coupling dynamics, the linear and nonlinear attitude dynamics model of solar sail spacecraft and the corresponding attitude control method were studied respectively. For solar sail spacecraft trajectory optimization problems, in the light of the latest researches on he evolutionary algorithm and the multi-objective methods, the optimal transfer trajectory of the solar sail spacecraft for different tasks are studied.
Existing literature shows that the pitch-axis rigid body dynamic model of solar sail spacecraft can not accurately describe the characteristics of its flexible structures. In Chapter Two, dynamic responses of solar sail spacecraft rigid body model controlled by the gimbal system and reaction jet were analyzed respectively. Based on the rigid body dynamics, combined with the idea of the hybrid coordinate method, solar sail spacecraft attitude dynamics model with the rigid-flexible coupling characteristics was established. In order to suppress the vibration of flexible structures induced by the attitude adjustment process of solar sail spacecraft, and ensure its accuracy and stability of the attitude adjustment, the Hoo controller was designed for the rigid-flexible coupling dynamics model of solar sail spacecraft. The goal of control is to achieve the asymptotic tracking of the target attitude angle, and robust vibration suppression of flexible structures.
Small angle approximation of solar sail spacecraft dynamics model can not accurately describe its dynamics. In Chapter Three, the pitch-axis nonlinear rigid body dynamics model controlled by the gimbal torque and reaction jet force was established firstly. Then through the hybrid coordinate method, solar sail spacecraft nonlinear rigid-flexible coupling attitude dynamics model was derived. Based on the model, a local small-angle approximation was performed on the attitude angular change rate, gimbal angel and its change rate, and the model was transformed into the form of matrix second-order system. And under some assumptions, solar sail spacecraft rigid-flexible coupling nonlinear attitude dynamics model was translated into a class of polytopic linear parameter varying (LPV) system. And then the linear state feedback control law was designed for the system, and the solution of the control law parameters was obtained by solving the convex optimization problem with linear matrix inequality (LMI) constraints. Finally the simulation example of solar sail spacecraft attitude angle tracking demonstrates the effectiveness of the method.
The fuel carried by the solar sail spacecraft is limited, and its attitude adjustment has the characteristics of a long period and small magnitudes. Considering those features, based on idea of the direct shooting method, the piecewise linear interpolation method was used in Chapter Four for approximation of continuous-time changes of attitude angle. And then combined with the mechanical model and the features of solar sail trajectory optimization, solar sail orbit transfer optimal control problem was turned into parameter optimization problem. Then differential evolution algorithm and the improved imperialist competitive algorithm were used respectively to achieve the transfer trajectory optimization of solar sail spacecraft for a variety of tasks, and the optimization results are comparative analyzed.
The solar sail spacecraft trajectory optimization was characterized by the inherent constraints on the parameters to be optimised, and the multi-objective optimization theory can be used to deal with such problems. In Chapter Five, a Nondominated Sorting Big Bang-Big Crunch (NSBBBC) method was proposed, through the proposed threshold selection strategy and elitists'preservation scheme, as well as a constraint handling approach without penalty parameters, the solar sail spacecraft trajectory optimization problems were classified and studied. Finally, the feasibility of the approach was verified by numerical examples.
引文
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