Spacecraft proximity operation autonomous control method and system based on online learning

Abstract

The invention relates to a spacecraft proximity operation autonomous control method and system based on online learning. In order to solve practical engineering problems of sight field constraint, proximity corridor constraint, real-time online optimization of control performance and the like of a spacecraft in a proximity operation task, the invention provides a proximity operation autonomous control technology method based on online learning. The method comprises the following steps: firstly, establishing a pose integrated kinetic model of a spacecraft based on dual quaternions, and describing pose motion constraints into an inequality form by utilizing the dual quaternions; secondly, designing a return function of online learning control based on the property of the dual quaternion fortask requirements of spacecraft approaching operation autonomous control; and finally, under a dual quaternion framework, designing an online learning method is designed to enable the controller to begradually improved from a simple control strategy to a suboptimal controller by utilizing online data. The task execution capability of the spacecraft is improved.

Description

technical field [0001] The invention relates to an autonomous control method and system for spacecraft proximity operation based on online learning, which is mainly used in tasks such as spacecraft rendezvous and docking, on-orbit supply maintenance, and coordination, and belongs to the technical field of spacecraft control. Background technique [0002] With the rapid development of aerospace technology, the diversity and complexity of spacecraft on-orbit tasks are increasing, and the mission carrier is gradually expanding from a single integrated large spacecraft system to a multi-spacecraft system. missions, derived from the emerging on-orbit missions represented by the proximity of spacecraft operations. The spacecraft proximity operation control technology is derived from important mission scenarios such as rendezvous and docking, on-orbit maintenance and replenishment. Due to factors such as flight safety, load characteristics, and mission requirements, on-orbit space...

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Problems solved by technology

[0004] The purpose of the present invention is to solve the six-degree-of-freedom motion constraint problem caused by the optical load and the structure of the spacecraft body in the autonomous control task of the approaching operation of the spacecraft. The present invention provides an autonomous control method and equipment for the approaching operation of the spacecraft based on online learning. By designing the reward function related to the mission function, and using the online data to design the real-time learning law of the controller, the six-degree-of-freedom motion constraint problem in the spacecraft's near-operation mission is solved. Under the condition that the motion constraint is satisfied, the real-time learning Independently improve and optimize the performance of the controller, which improves the mission execution capability of the spacecraft control system of the control system

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