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Multi-microsatellite posture takeover failed spacecraft method with robustness differential game control

A micro-satellite and micro-satellite technology, applied in the direction of attitude control, etc., can solve problems such as not being suitable for space missions, not considering external interference, long-time neural network, etc., to achieve the effect of avoiding control allocation, reducing communication and avoiding allocation

Active Publication Date: 2019-06-25
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

The convergence of neural network parameters in the method described in the literature takes a long time, which is not suitable for space missions; and the literature does not consider external interference

Method used

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  • Multi-microsatellite posture takeover failed spacecraft method with robustness differential game control
  • Multi-microsatellite posture takeover failed spacecraft method with robustness differential game control
  • Multi-microsatellite posture takeover failed spacecraft method with robustness differential game control

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specific Embodiment approach

[0144] Using the following simulation scenario, suppose there are three microsatellites to take over the attitude control of the target spacecraft in the geostationary orbit, and their respective body coordinate system to reference coordinate system conversion matrices are:

[0145]

[0146] The moment of inertia matrix of the combined body is

[0147]

[0148] The disturbance torque is

[0149]

[0150] The initial value of the state quantity of the combination is x 0 =[0.087; 0.087; 0.087; 0; 0; 0], where the unit of the angle is radians. The maximum uniaxial control torque of the microsatellite is 0.04N.m. The simulation parameters of the trigger are α = 0.5, β = 0.0, 1 controller parameters are T 1 = T 2 = T 3 =0.01I 3 , Q 1 =Q 2 =Q 3 =0.003I 6 , R 11 =R 12 =R 13 =0.01I 3 , R 21 =R 22 =R 23 =0.01I 3 , R 31 =R 32 =R 33 =0.01I 3 .

[0151] The specific implementation process is

[0152] The first step, initialization;

[0153] The second step is to judge by the trigger condition of f...

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Abstract

The present invention relates to a multi-microsatellite posture takeover failed spacecraft method with robustness differential game control. For a combination body formed by multiple microsatellites and a failed spacecraft and attached to the surface of the failed spacecraft, posture takeover control problem modeling with interference is a game problem between the multiple microsatellites and theinterference to avoid control distribution and effectively inhibit the interference. A linear posture dynamical model of the combination body and a performance index function of each microsatellite are established to obtain a differential game model; and the performance index functions are optimized to obtain and solve an HJ equation to obtain a state feedback control policy expression which can be directly used online. Through adoption of the design triggering mechanism, a controller can only obtain the system update state when being triggered and updates the state feedback control amount andthe control at the triggering moment is employed at triggering to ensure stability and reduce the communication between individuals and frequent calculation of the controller.

Description

Technical field [0001] The invention belongs to a failed spacecraft attitude takeover method, and relates to a method for multi-microsatellite attitude takeover of a failed spacecraft based on event-triggered robust differential game control. Background technique [0002] The document "Integrated identification and control for nanosatellites reclaiming failed satellite, Acta Astronautica, 2018" discloses an integrated identification and control method for the attitude takeover control of Donats. The control part of this method is based on the Lyapunov stability law to design the control law, and the control torque distribution problem is reduced to the QP problem to solve it, which better solves the multi-satellite takeover control problem. The method described in the literature first solves the total control and then allocates it to the nano satellites, which puts a great pressure on the calculation of the central node; frequent control changes will cause the rapid aging of the ...

Claims

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Application Information

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IPC IPC(8): G05D1/08
Inventor 罗建军柴源韩楠
Owner NORTHWESTERN POLYTECHNICAL UNIV
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