An optimal obstacle avoidance method and system for suppressing liquid sloshing time
A time-optimized, liquid sloshing technology, applied in general control systems, control/regulation systems, adaptive control, etc., can solve the problem of reducing the posture swaying angle, and achieve the effect of improving rapidity
Active Publication Date: 2021-06-11
BEIJING INST OF CONTROL ENG
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[0004] Problems solved by the technology of the present invention: Overcoming the deficiencies of the prior art, an optimal obstacle avoidance method and system for suppressing liquid sloshing time is proposed. On the premise of maintaining the rapidity of translation, the problem of liquid sloshing caused by translation control is solved, so that The stance shake angle during translation has been reduced
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[0094] For a lander using a surface tension tank, implementing translational control during obstacle avoidance using a simple phase plane control method has the risk of exciting liquid sloshing, which eventually leads to attitude instability.
[0095] To solve this problem, the present invention proposes a new translational control method in which Bang-Bang control is used as the outer loop, and PD control + pulse width modulation is used as the inner loop. Using PD control + pulse width modulation to generate a variable pulse width jet control command, by adjusting the parameters of the PD controller, the loop bandwidth of the control system is lower than the natural frequency of liquid sloshing by an order of magnitude, thereby avoiding the liquid sloshing caused by jet control; in PD In addition to the control, a phase plane switch line is added to realize Bang-Bang control, and solve the problem of long response time of simple PD control during large-scale translational man...
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An optimal obstacle avoidance method and system for suppressing liquid sloshing time, including (1) dividing the phase plane formed by the horizontal position error and velocity error relative to the landing point during the obstacle avoidance process of the spacecraft; (2) determining the current position of the spacecraft The control law when the horizontal position error and velocity error data are in different regions; (3) The spacecraft calculates the jet pulse width command according to the determined control law, performs translational obstacle avoidance control, and realizes the optimal obstacle avoidance time for suppressing liquid sloshing. The invention solves the problem of liquid sloshing caused by translational control, so that the posture swaying angle in the translation process is reduced.
Description
technical field [0001] The invention relates to an optimal obstacle avoidance method and system for suppressing liquid sloshing time, belonging to the field of spacecraft guidance and control. Background technique [0002] For deep-space soft-landing probes, it is generally necessary to maintain a vertical attitude when it finally approaches the surface of a celestial body, and rely on translation engines to implement horizontal position and speed control to achieve obstacle avoidance and safe soft landing functions. [0003] The current translational control of the obstacle avoidance process of the lunar lander is realized by using the phase plane method. There are several switch lines on the phase plane formed by position error and speed error. When passing through the switch line and entering the air injection control area, it will output the full pulse width command of the air injection in the corresponding direction. This method is relatively simple and conducive to im...
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IPC IPC(8): G05B13/02
CPCG05B13/0255
Inventor 张洪华李骥关轶峰于萍赵宇
Owner BEIJING INST OF CONTROL ENG