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Reinforcement learning attitude constraint control method considering installation deviation of actuating mechanism

A technology for installing deviations and actuators, which is used in space navigation equipment, space navigation aircraft, and space navigation aircraft guidance devices.

Active Publication Date: 2021-02-12
BEIHANG UNIV
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Problems solved by technology

[0004] In view of this, the present invention provides a method of reinforcement learning attitude constraint control that considers the installation deviation of the actuator to solve the problem that the spacecraft has attitude motion constraints due to the load limitation and the actuator has deviations during the installation process. attitude control problem

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  • Reinforcement learning attitude constraint control method considering installation deviation of actuating mechanism
  • Reinforcement learning attitude constraint control method considering installation deviation of actuating mechanism
  • Reinforcement learning attitude constraint control method considering installation deviation of actuating mechanism

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Embodiment 1

[0066] Step 1: According to the dynamic characteristics of the spacecraft on-orbit attitude maneuver mission, based on the modified Rodrigues parameters, establish the dynamic model of the spacecraft on-orbit attitude maneuver mission considering the installation deviation of the actuator and the interference model, and Algebraically characterize the attitude kinematics constraints in the on-orbit attitude maneuvering mission.

[0067] Based on the modified Rodrigues parameters, the dynamic model of the spacecraft on-orbit attitude maneuver mission is established as follows:

[0068]

[0069] Define H(σ bt )for:

[0070]

[0071] in, Indicates the relative attitude of the controlled spacecraft to the desired attitude, Indicates the relative angular velocity between the controlled spacecraft and the desired attitude in the spacecraft body coordinate system, σ bt and The initial value of can be selected as [-0.4622,0.4074,0.5100] T and [0,0,0] T ;J b Indicates t...

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Abstract

The invention discloses a reinforcement learning attitude constraint control method considering the installation deviation of an actuating mechanism, and the method comprises the steps: firstly establishing a spacecraft kinetic model considering the installation deviation of the actuating mechanism and an interference model based on a corrected Rodrigs parameter, and carrying out the algebraization of an attitude kinematics constraint; secondly, designing a return function according to the requirements of an on-orbit attitude maneuver task; and finally, proposing a corresponding additional cost term for the installation deviation and interference, and designing a spacecraft attitude control method based on reinforcement learning in combination with a kinetic model and a return function. Therefore, by designing a return function related to a task function, designing corresponding additional cost items for installation deviation and interference, and designing a real-time parameter learning law of the controller by utilizing online data, the problem of motion constraint of the spacecraft under the conditions of installation deviation and interference is solved. And the controller isgradually improved from a simple control strategy to a suboptimal controller, so that the execution efficiency of the spacecraft on-orbit task is improved.

Description

technical field [0001] The invention is mainly applied to spacecraft on-orbit service, astronomical redirection observation, attitude rapid maneuvering, etc., belongs to the technical field of spacecraft control, and in particular relates to an attitude constraint control method of reinforcement learning considering the installation deviation of actuators. Background technique [0002] With the rapid development of aerospace technology, space missions are gradually developing in the direction of deep space and long-distance diversity, and the scientific payloads carried by spacecraft are becoming more and more diverse and complex. On the one hand, most of these scientific instruments are mainly optical instruments, which need to point to avoid the direction of strong light during on-orbit maneuvering, so as to protect the optical sensitive components of scientific instruments, which requires consideration of the motion trajectory when designing the control system Safety cons...

Claims

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Application Information

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IPC IPC(8): B64G1/24
CPCB64G1/244B64G1/245Y02T90/00
Inventor 胡庆雷杨昊旸郑建英郭雷
Owner BEIHANG UNIV
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