A tracking method for satellite path planning and predictive control based on b-spline function
A spline function and path planning technology, applied in the field of spacecraft control, can solve the problems of high risk and high cost of astronauts' extravehicular activities
Active Publication Date: 2020-04-21
BEIHANG UNIV
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In addition, the maintenance and management of astronauts out of the cabin is also an indispensable guarantee for the stable operation of the space station. However, the activities of astronauts out of the cabin are risky and expensive. small satellites, and it can complete a variety of complex space tasks
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[0115] Such as figure 1 As shown, the steps of the tracking method of satellite path planning and predictive control based on B-spline function in the present invention are: firstly establish the orbit model and error model of the satellite relative to the space station motion; schematic diagram see image 3 , the circle frame constitutes a safe passage, and the solid line in the middle represents a feasible path that satisfies the obstacle avoidance constraints), combined with the B-spline function for path planning; then use the projection method to solve the reference state quantity and reference input quantity of the reference path; design again The trajectory tracking controller based on model predictive control performs real-time tracking control on the planned path; finally, according to the designed dynamic path planning and real-time tracking algorithm, the satellite reaches the target position safely. The overall implementation plan is as follows figure 2 shown. T...
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The invention discloses a tracking method of satellite route planning and predictive control based on B spline functions. The tracking method of the satellite route planning and predictive control based on the B spline functions comprises the following steps that an orbit and error models of a satellite moving relative to a space station, of a satellite are established; safety channel constraint is designed and a route planning method based on the B spline functions is designed in order to obtain a smooth satellite reference route capable of avoiding obstacles in a state of no hovering alwaysof the satellite; reference state variables and reference input variables of the satellite reference route are calculated through a projection method; a tracking controller based on model predictive control is established; and in consideration of a limited detection range of a satellite sensor, a dynamic route planning and tracking control algorithm with both planning and tracking is designed. Route planning and trajectory tracking of the satellite are considered comprehensively, the planned route is smooth and capable of avoiding the obstacles, meanwhile, a designed tracker has good trackingeffect, high practicability, high stability, and is suitable for route planning and tracking control of spacecrafts in the spacecraft control field.
Description
technical field [0001] The invention relates to a B-spline function-based tracking method for satellite path planning and predictive control, which is mainly used in spacecraft path planning and tracking control, and belongs to the technical field of spacecraft control. Background technique [0002] As a manned spacecraft that operates in orbit for a long time and provides human beings with the development of space resources and observation of the space environment, the space station has attracted many domestic and foreign researchers to conduct scientific research. With the research and development of the space station, its long-term stable operation in orbit is inseparable from the monitoring and detection of the spacecraft, such as the US AERCam micro-satellite, which conducts external inspections of the space station; Maintenance and testing. In addition, the maintenance and management of astronauts out of the cabin is also an indispensable guarantee for the stable oper...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 胡庆雷解静洁董宏洋郭雷
Owner BEIHANG UNIV