Final segment saturation control method of non-cooperative target spacecraft rendezvous and docking

Abstract

The invention discloses a final segment saturation control method of non-cooperative target spacecraft rendezvous and docking. The method comprises: a spatial coordinate system including an earth inertial coordinate system, an orbital coordinate system, a target spacecraft body coordinate system, a tracking spacecraft coordinate system and a line-of-sight coordinate system is defined and a kinematical equation of the line-of-sight coordinate system is established; a six-degree-of-freedom rendezvous and docking model for the spacecraft is established; a two-stage artificial potential function is established; and according to bounded gradient information of the two-stage artificial potential function, a six-degree-of-freedom saturation controller for spacecraft rendezvous and docking is designed. According to the invention, a novel line-of-sight coordinate system is designed and thus a problem of real-time measurement of the sensitive device of the spacecraft system is solved; with introduction of the saturation controller based on the two-stage artificial potential function, a safety rendezvous problem in spacecraft rendezvous and docking and problems of limited control input saturation and external disturbance influence are solved; and the system robustness is ensured.

Description

technical field [0001] The invention belongs to the technical field of spacecraft control, and in particular relates to a saturation control method for the final stage of rendezvous and docking of a non-cooperative target spacecraft. Background technique [0002] With the increasing complexity and diversification of space missions, the demand for spacecraft on-orbit service tasks is increasing, including the need to solve on-orbit replenishment, on-orbit refueling, on-orbit maintenance, or space garbage cleaning. For these on-orbit service missions, automatic rendezvous and docking or autonomous safe approach is the most important link. The tracking spacecraft can approach the target spacecraft in a safe, reliable and accurate way. These space missions must first be guaranteed. In addition, as the objects of rendezvous and docking tasks become more and more complex and diverse, the demand for rendezvous and docking of non-cooperative targets is also increasing. [0003] For...

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Problems solved by technology

By designing the line-of-sight coordinate system of the present invention, the problem of real-time measurement of sensitive devices of the spacecraft system is solved, and a saturation controller based on a two-stage artificial potent

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