Spacecraft formation attitude limited time cooperation control method under complicated constraint condition

A technology of attitude control and constraint conditions, applied in the field of control science, can solve problems such as the inability to coordinate the attitude control of spacecraft formations

Inactive Publication Date: 2017-12-01
中国人民解放军火箭军研究院 +1
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  • Application Information

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Problems solved by technology

[0004] The present invention provides a limited-time cooperative control method and device, electronic equipment, and a computer-readable storage medium for spacecraft formation attitude under complex constraint conditions, so as to solve the inability to control spacecraft formation under complex constraint conditions in the prior art The problem of attitude limited time cooperative control

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  • Spacecraft formation attitude limited time cooperation control method under complicated constraint condition
  • Spacecraft formation attitude limited time cooperation control method under complicated constraint condition
  • Spacecraft formation attitude limited time cooperation control method under complicated constraint condition

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Embodiment 1

[0017] refer to figure 1 , shows a flow chart of steps of a method for finite-time cooperative control of spacecraft formation attitude under complex constraint conditions according to an embodiment of the present invention.

[0018] The finite-time cooperative control method of spacecraft formation attitude under the complex constraints of the present embodiment includes the following steps:

[0019] Step 101: Determine the formation topology and obtain the current attitude value of the spacecraft formation.

[0020] The spacecraft formation contains multiple spacecraft, and each spacecraft is a formation member. The relationship between the formation members in the formation can be determined through the topology of the spacecraft formation.

[0021] Step 102: Transform the spacecraft attitude control equation into a system tracking error equation.

[0022] Specifically, when transforming the spacecraft attitude control equation into the system tracking error equation, the...

Embodiment 2

[0057] A specific example is used to illustrate the finite-time cooperative control method of spacecraft formation attitude of the present invention under complex constraint conditions.

[0058] In the embodiment of the present invention, the formation attitude cooperative control method is proposed based on the sliding mode control and the design of the finite-time state observer, combined with the formation distributed cooperative control framework. In this method, the unknown angular velocity and coupling disturbance of the system are estimated in real time by designing an extended observer, and then the distributed control protocol is designed based on the finite-time sliding mode control theory.

[0059] The present invention's design and technical solutions are as follows:

[0060] Consider the following formation attitude control model consisting of n spacecraft:

[0061]

[0062] in, Represents the moment of inertia matrix of the i-th spacecraft; is the control...

Embodiment 3

[0099] refer to image 3 , shows a schematic structural diagram of a space vehicle formation attitude finite-time cooperative control device under complex constraint conditions in Embodiment 3 of the present invention.

[0100]The spacecraft formation attitude finite-time cooperative control device under complex constraint conditions in the embodiment of the present invention includes: a determination module 301, which is used to determine the formation topology and obtain the current attitude value of the spacecraft formation; a conversion module 302, which is used to transform the spacecraft formation The attitude control equation is converted into the system tracking error equation; the estimation module 303 is used to call the system state observer to estimate the angular velocity and attitude value of each spacecraft formation member, and obtain the angular velocity estimation value and the attitude estimation value; the coupling module 304 is used for The estimated value...

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Abstract

The invention provides a spacecraft formation attitude limited time cooperation control method under a complicated constraint condition. The spacecraft formation attitude limited time cooperation control method comprises steps that a formation topological structure is determined, and the current attitude value of the spacecraft formation is acquired; a spacecraft attitude control equation is converted into a system error tracking equation; a system state observer is invoked to estimate the angular speeds and the attitude values of the various members of the spacecraft formation, and then angular speed estimation values and attitude estimation values are acquired; the angular speed estimation values and the attitude estimation values of the members of the adjacent formation are coupled to acquire control slip form variables; the slip form variables are transmitted to a controller, and the controller is used to convert the control slip form variables to control signals according to a preset slip form control algorithm. By adopting the method provided by the invention, the accurate control over the spacecraft formation attitude under the complicated constraint condition is realized.

Description

technical field [0001] The invention relates to the field of control science and technology, in particular to a space vehicle formation attitude finite-time cooperative control and device, electronic equipment and a computer-readable storage medium under complex constraint conditions. Background technique [0002] In recent years, the formation of spacecraft such as satellites and spaceships has attracted great attention from experts and scholars due to their huge advantages and broad prospects in the fields of military reconnaissance, deep space exploration, environmental monitoring, and positioning services. It is an important research direction in the field of control science. . Compared with a single large spacecraft with a complex structure and strong functions, many small and medium-sized spacecraft formations have the characteristics of low cost, good scalability, and diverse functions, and can complete more complex space missions. [0003] However, in practical appl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/08
CPCG05B13/042G05B13/047G05D1/0808
Inventor 孙向东马肸刘刚徐军郑宗贵吴亮何兵秦伟伟安喜彬
Owner 中国人民解放军火箭军研究院
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