Spacecraft obstacle avoidance control method based on ellipsoid description

Abstract

The invention discloses a spacecraft obstacle avoidance control method based on ellipsoid description. The method is used for achieving autonomous obstacle avoidance of a target spacecraft and a tracking spacecraft and comprises the steps: establishing a coordinate system; establishing a relative kinetic equation; determining the shortest distance between an obstacle and the tracking spacecraft; establishing an artificial potential function; calculating an attraction control force; calculating a repulsion control force and calculating a total control force. According to the spacecraft obstacleavoidance control method based on ellipsoid description, the ellipsoid is adopted to describe the appearances of the spacecraft and the obstacle, and the modeling precision can be improved so as to improve the spacecraft control precision; meanwhile, a repulsion potential function is designed by applying a Sigmoid function to generate an obstacle avoidance control force; the attraction potentialfunction is designed by using the state-dependent Riccati equation to generate the attraction control force, and the integrated design of the corresponding controller is completed by using the terminal sliding mode control theory, so that the rapid obstacle avoidance control of the spacecraft can be realized; the control precision is high, the fuel consumption rate is low, and the method can be suitable for the on-orbit real-time operation of the spacecraft.

Description

technical field [0001] The invention relates to the technical field of spacecraft motion control, in particular to a spacecraft obstacle avoidance control method based on ellipsoid description. Background technique [0002] In recent years, on-orbit failures of spacecraft have been increasing. In order to reduce the probability of on-orbit failures, extend the working life of spacecraft, and improve work performance, more and more on-orbit services are applied to spacecraft. As a basic technology supporting on-orbit service, distance operation needs to meet strict safety requirements for close-range operation of spacecraft. [0003] With the increase of human space activities, the space environment is deteriorating, and more and more space debris, space shuttle junk and failed spacecraft have become fatal obstacles for spacecraft rendezvous and operations. For this reason, when the spacecraft is operating in space, it is necessary to strictly control the spacecraft to ensur...

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Problems solved by technology

[0006] The spacecraft collision avoidance control method based on the optimal theory cannot effectively guarantee the safety of the control results to the obstacle avoidance target, and the optimal theory is used to design the obstacle avoidance control, which has high computational complexity and is not suitable for the real-time operation of the spacecraft on orbit; The obstacle avoidance control method using the artificial potential function, although the amount of calculation is small, the optimization strategy cannot be adopted, resulting in the inability to achieve optimal energy consumption of the control strategy, and the fuel consumption of the spacecraft is large; and the existing method uses a simple sphere to detect obstacles The outer envelope description is performed, and the description accuracy is poor, resulting in a large control error

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