Design method for data-driven posture controller of non-cooperative target assembled spacecraft

A non-cooperative target and attitude controller technology, applied in attitude control, space navigation equipment, space navigation equipment, etc., can solve problems such as complex spacecraft design process and unknown parameters of combined spacecraft

Active Publication Date: 2018-11-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the shortcoming that the parameters of the combined spacecraft are unknown when designing the attitude stability controller of the non-cooperative target combined spacecraft, which leads to the complex design process of the spacecraft, and propose a data set of the non-cooperative target combined spacecraft Design Method of Driving Attitude Controller

Method used

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  • Design method for data-driven posture controller of non-cooperative target assembled spacecraft
  • Design method for data-driven posture controller of non-cooperative target assembled spacecraft
  • Design method for data-driven posture controller of non-cooperative target assembled spacecraft

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specific Embodiment approach 1

[0023] Embodiment one: a data-driven attitude controller design method of a non-cooperative target assembly spacecraft includes the following steps:

[0024] Step 1: Establish the attitude kinematics equation and attitude dynamics equation of the attitude control of the non-cooperative target assembly spacecraft;

[0025] Step 2: Obtain a linearized attitude equation according to the attitude kinematics equation and attitude dynamics equation of the non-cooperative target assembly spacecraft attitude control established in step 1, wherein the system matrix parameters are unknown;

[0026] Step 3: According to the linearized attitude equation obtained in Step 2, use the parameter Lyapunov equation to design the initial feedback gain K of the Kleinman iterative algorithm 0 ;

[0027] Step 4: According to the initial feedback gain K designed in step 3 0 Using a data-driven approach, an attitude controller for a non-cooperative target assembly spacecraft is designed.

specific Embodiment approach 2

[0028] Specific embodiment two: the difference between this embodiment and specific embodiment one is: the specific process of establishing the attitude kinematics equation and the attitude dynamics equation of the attitude control of the non-cooperative target assembly spacecraft in the step one is:

[0029] (1) Coordinate system definition:

[0030] Define the geocentric equatorial inertial coordinate system as OX i Y i Z i , where the origin of the coordinate system is set at the center of the earth O, OX i The axis points to the equinox in the equatorial plane, O i Pointing perpendicular to the equatorial plane to the Earth's North Pole, OY i with OX i and OZ i The two axes form a right-handed vertical coordinate system;

[0031] The orbital coordinate system is O'X o Y o Z o , the coordinate origin is located at the center of mass of the spacecraft, O′X o in the orbital plane, perpendicular to O'Z o axis and point to the spacecraft velocity direction, O′Z o P...

specific Embodiment approach 3

[0051] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the attitude kinematics equation and the attitude dynamics equation of the attitude control of the non-cooperative target assembly spacecraft established according to the step 1 in the step 2 are linear The specific process of transforming the attitude equation is:

[0052] at the equilibrium point q * =[0 0 0 1] T and ω * =[0-ω 0 0] T Linearize attitude kinematics equation (1) and attitude dynamics equation (2) to get:

[0053]

[0054]

[0055] in for q 1 The first derivative of , for q 2 The first derivative of , for q 3 The first derivative of , ω 0 represents the angular velocity of the spacecraft revolving around the earth, for ω rx The first derivative of , for ω ry The first derivative of , for ω rz The first derivative of ;

[0056] Spacecraft roll angle ψ, pitch angle θ, yaw angle The relationship with the quaternion q is: ...

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Abstract

The invention relates to a design method for a data-driven posture controller of a non-cooperative target assembled spacecraft. The invention solves the problem that the design process of the spacecraft is complex due to the fact that the parameter of the assembled spacecraft is unknown when the non-cooperative target assembled spacecraft posture stabilization controller is designed. The method provided by the invention comprises the steps of 1, building a posture kinematical equation and a posture kinetic equation for controlling the posture of the non-cooperative target assembled spacecraft;2, acquiring a linear posture equation according to the step 1, wherein the system matrix parameter is unknown; 3, adopting a parameter Lyapunov equation to design an initial feedback gain K0 of a Kleinman iteration algorithm according to the acquired linear posture equation; and 4, adopting a data-driving method for designing the posture controller of the non-cooperative target assembled spacecraft according to the designed initial feedback gain K0. The method provided by the invention is applied to the field of spacecraft control.

Description

technical field [0001] The invention relates to the field of spacecraft control, in particular to a data-driven attitude controller design method for a non-cooperative target assembly spacecraft. Background technique [0002] On-orbit servicing missions involve an increasing number of non-cooperative target spacecraft. Because many parameters of the non-cooperative target spacecraft are unknown, after docking with the service spacecraft to form an assembly, the location of the center of mass and inertia parameters of the new assembly will inevitably be unknown. The spacecraft brings obvious disturbances, and the attitude of the spacecraft may change dramatically in an instant. It is difficult for the attitude control system of the original spacecraft to stabilize the attitude in a short period of time. Execution or stable operation in orbit can cause a lot of trouble, and may even lead to the collapse of the spacecraft control system. Therefore, maintaining the stability o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G05D1/08
CPCB64G1/244G06F30/20
Inventor 周彬李冬旭姜怀远段广仁
Owner HARBIN INST OF TECH
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