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A Closed-loop Feedback Optimal Control Allocation Method for Assembled Spacecraft

A technology of optimal control and distribution method, which is applied in the direction of attitude control, non-electric variable control, control/regulation system, etc., and can solve the problems of control precision reduction and installation error

Active Publication Date: 2017-08-08
BEIHANG UNIV
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Problems solved by technology

[0005] The technical solution problem of the present invention is: aiming at the problems of installation error and saturation limitation in the actuators of the combined spacecraft, under the condition of energy constraints, a closed-loop feedback optimal control distribution method of the combined spacecraft is provided to solve the problem of the combined spacecraft. In the attitude stability control of the spacecraft, the control accuracy is reduced due to the installation deviation of the actuator, and the control accuracy of the combined spacecraft is improved, and the optimal control of energy is realized at the same time.

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  • A Closed-loop Feedback Optimal Control Allocation Method for Assembled Spacecraft
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  • A Closed-loop Feedback Optimal Control Allocation Method for Assembled Spacecraft

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Embodiment Construction

[0040] like figure 2 As shown, the specific implementation steps of the present invention are as follows (the following is an example to illustrate the specific implementation of the method by taking the composite spacecraft formed by the abandoned micro-satellite and service satellite in space):

[0041] The first step is to establish the attitude kinematics and dynamics models of the abandoned micro-satellites and service satellites:

[0042]

[0043] Among them, q and q 0 are the attitude four-element vector and scalar of the abandoned microsatellite and service satellite assembly respectively, and the initial value is q=[0.4,-0.4,0.2] T ,q 0 =0.8, is the moment of inertia of the abandoned microsatellite and service satellite assembly, ω is the attitude angular velocity of the abandoned microsatellite and service satellite assembly, the initial value is ω=[1,-1,0.5]rad / s, u(t) is the virtual control command, τ(t) is the output of the actuator, is the nominal actu...

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Abstract

The invention relates to an assembly spacecraft closed loop feedback optimal control distribution method which is designed oriented to the problems of executing mechanism installation deviation, executing mechanism saturation and energy restriction of an assembly spacecraft. The assembly spacecraft closed loop feedback optimal control distribution method comprises the steps that firstly, an assembly spacecraft posture kinematic and dynamic model including executing mechanism installation deviation is established; secondly, an assembly spacecraft anti-saturation and posture stable controller is designed for the assembly spacecraft posture kinematic and dynamic model, and an assembly spacecraft three-axis virtual posture stable control instruction is obtained through solving; thirdly, an open loop optimal control distribution method is designed based on the virtual control instruction, and distribution is made to meet the restriction condition of energy optimum; finally, based on the open loop optimal control distribution method, the closed loop feedback optimal control distribution method is designed to reduce distribution errors brought by executing mechanism installation deviation. The assembly spacecraft closed loop feedback optimal control distribution method has the advantages of being high in reliability and low in energy consumption, and is suitable for control distribution among multiple executing mechanisms of the assembly spacecraft.

Description

technical field [0001] The present invention designs a closed-loop feedback optimal control distribution method for an assembled spacecraft, which is mainly applied to attitude stability control in an energy-optimized manner for a new type of assembled spacecraft in space when there are installation deviations and saturation limitations in the actuator. Background technique [0002] Combined spacecraft refers to a type of spacecraft that is composed of two or more spacecraft units through docking or capture due to the needs of complex space tasks. The main combination types include rendezvous and docking between large space stations and spacecraft, abandoned Satellites and service satellites, space debris and capture satellites and space robots, etc. This type of spacecraft is mainly used to complete complex and difficult space tasks, so the requirements for the coordination control accuracy between various space units are relatively high. Realizing the coordinated control ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 郭雷刘志兵乔建忠徐健伟吴克坚
Owner BEIHANG UNIV
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