Autonomous rendezvous guidance method for space tumbling non-cooperative targets based on high-order sliding mode control and disturbance observer
A technology of disturbance observer and non-cooperative target, applied in adaptive control, general control system, control/regulation system, etc., can solve the problem of inability to achieve collision-free rendezvous and docking of non-cooperative space targets, and achieve the goal of improving disturbance suppression capability. Effect
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specific Embodiment approach 1
[0017] Specific implementation mode one: the following combination figure 1 Describe this embodiment, the autonomous rendezvous guidance method for space roll non-cooperative targets based on high-order sliding mode control and disturbance observer described in this embodiment, the specific process of this method is:
[0018] Step 1. Establish a line-of-sight coordinate system, establish a relative motion model under the line-of-sight coordinate system, establish a rotational motion model of the target spacecraft, and obtain the actuator failure mode of the service spacecraft at the same time;
[0019] Step 2. The generalized superhelix algorithm is used as the robust continuous guidance law, and the disturbance observer of the homogeneous high-order sliding mode is used to realize autonomous collision-free rendezvous.
[0020] In this embodiment, the establishment of the visual coordinate system takes modeling uncertainty and environmental disturbance into consideration.
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specific Embodiment approach 2
[0022] Specific implementation mode two: this implementation mode further explains implementation mode one, and the process of establishing the line-of-sight coordinate system described in step 1 is as follows:
[0023] The relative motion coordinate system of the two rendezvous spacecraft is: the earth-centered coordinate system uses O I x I the y I z I Indicates that the line of sight coordinate system O L x L the y L z L The origin of is fixed at the center of mass of the serving spacecraft, and the line-of-sight coordinate system O L x L the y L z L The x-axis of is pointing from the serving spacecraft to the target spacecraft;
[0024] The method of turning from the geocentric coordinate system to the line-of-sight coordinate system is: first along the y I Rotation angle Line of sight deflection angle q β , then around z L Axis rotation line of sight inclination q α ; The transformation matrix obtained is:
[0025]
[0026] Among them, q β ∈(-π,π),q α ...
specific Embodiment approach 3
[0027] Specific implementation mode three: this implementation mode further explains implementation mode two, and the specific process of establishing a relative motion model under the line-of-sight coordinate system described in step 1 is:
[0028] The dynamic equations of the serving spacecraft and the target spacecraft are as follows:
[0029]
[0030]
[0031] Among them, r S and r T are the position vectors of the serving spacecraft and the target spacecraft respectively, F represents the control force acting on the serving spacecraft, m is the mass of the serving spacecraft, f S and f T Respectively represent the external disturbance of the serving spacecraft and the target spacecraft; μ=3.986×10 5 km 3 / s 2 is the gravitational constant of the earth;
[0032] Subtract formula (1) from formula (2) to obtain relative motion equation:
[0033]
[0034] in,
[0035] The projection component of formula (3) along the line-of-sight coordinate system is:
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