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A Multi-Actuator Cooperative Control Allocation Method Oriented to Integrated Control of Attitude and Orbit

A technology with multiple actuators and distribution methods, applied in attitude control, non-electric variable control, control/regulation system, etc., can solve the problems of low fuel usage rate and less mutual cooperation of thrusters, so as to improve use efficiency and expand easily Effects on sex and flexibility

Active Publication Date: 2018-09-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the problems of the existing attitude-orbit integration control distribution strategy on the low fuel usage rate of thrusters and the lack of mutual cooperation among actuators, and proposes a multi-execution mechanism cooperative control for attitude-orbit integration control distribution method

Method used

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  • A Multi-Actuator Cooperative Control Allocation Method Oriented to Integrated Control of Attitude and Orbit
  • A Multi-Actuator Cooperative Control Allocation Method Oriented to Integrated Control of Attitude and Orbit
  • A Multi-Actuator Cooperative Control Allocation Method Oriented to Integrated Control of Attitude and Orbit

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Experimental program
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specific Embodiment approach 1

[0018] Specific implementation mode one: as figure 1 with figure 2 As shown, a multi-actuator cooperative control distribution method for integrated control of attitude and orbit includes the following steps:

[0019] Step 1: According to the desired control force F c , using the thrust correction coefficient optimization model oriented to the minimum thrust distribution error, transform the thrust correction coefficient optimization model into a standard linear programming model, solve the desired thrust correction factor k, and calculate the output desired control force F m,c ;

[0020] Among them, the expected thrust correction factor k is to correct the expected thrust when the expected control quantity exceeds the output capability range of the actuator.

[0021] f m,c = kF c (16)

[0022] Step 2: For the thruster, control the torque T according to the expectation c and the output expected control force F obtained in step 1 m,c , using the hybrid optimization mo...

specific Embodiment approach 2

[0030] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is: the thrust correction coefficient optimization model in the step one is specifically:

[0031] Min J=-k (1)

[0032] St.Bu=kF c (2)

[0033] u i,min i i,max ,i=1,2,...,n (3)

[0034] where u i is the i-th thruster, n is the number of thrusters (representing a matrix with n columns), k is the thrust correction coefficient, B is the thrust control efficiency matrix of the thruster, u is the control command of the thruster, and J is the objective function.

[0035] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0036] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is: in the step one, the specific form of converting the thrust correction coefficient optimization model into a standard linear programming model is:

[0037]

[0038] where u max =[u 1,max u 2,max … u n,max ] T , u min =[u 1,min u 2,min … u n,min ] T , I p×q Represents a p-row and q-column matrix whose elements are all 1, 0 p×qRepresents a p-row and q-column matrix whose elements are all 0, I 3×n Represents a 3-row n-column matrix with elements 1, 0 3×n Represents a 3-row n-column matrix with elements 0, 0 3×1 Represents a matrix with 3 rows and 1 column whose elements are 0, 0 1×n Represents a 1-row and n-column matrix with elements of 0, and there are n thrusters that have n-column matrix, and u + = u max -u,u _ =u-u min .

[0039] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention discloses an attitude-orbit integrated control oriented multi-execution mechanism cooperative control distribution method and relates to a multi-execution mechanism cooperative control distribution method. The invention is aimed at solving the problems of low utilization rate of thruster fuel and little mutual cooperation among execution mechanisms of existing attitude-orbit integrated control oriented distribution strategy. In the invention, the orbit control expectation control force and the attitude control expectation control torque are distributed among the thrusters enabling both orbit control and attitude control; in the distribution process, the needs of track control are met first, and a thruster control distribution scheme proximal to the attitude control expectation control moment is optimally solved without additionally consuming redundant fuel; and after that, the remaining expectation control moment only can be distributed among the attitude-control execution mechanisms. While the attitude-orbit integrated control task is finished, the fuel consumption of the thruster is reduced, the burden on the attitude-control execution mechanisms such as flywheels and magnetic moments is alleviated, and the in-orbit life of spacecraft is prolonged. The method disclosed by the invention is applied to the field of spacecraft control.

Description

technical field [0001] The invention relates to a multi-executing mechanism cooperative control distribution method oriented to attitude-orbit integrated control. Background technique [0002] Attitude-orbit integrated control refers to a control technology that simultaneously considers orbit and attitude maneuver tasks when the spacecraft is running in orbit, and realizes simultaneous control of orbit and attitude. It is widely used in space rendezvous and docking, spacecraft formation and approach operations in space missions. Traditionally, the spacecraft adopts separate orbit and attitude control modes. Therefore, it is necessary to design the orbit control algorithm and attitude control algorithm separately and equip corresponding actuators. If the attitude and orbit control are realized through a common actuator configuration, the It can give full play to the control ability of the actuator, improve the functional density of the system, and meet the miniaturization ne...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 张世杰聂涛赵亚飞曹喜滨叶东孙兆伟
Owner HARBIN INST OF TECH
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