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Optimal control method for bounce motion on surface of small celestial body

An optimal control and small celestial body technology, applied in the field of deep space exploration, can solve problems such as low efficiency and large amount of calculation, and achieve the effects of ensuring accuracy, improving efficiency, and improving solution efficiency

Active Publication Date: 2021-07-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problems of large amount of calculation and low efficiency in the control method of the surface bouncing motion of small celestial bodies, and to provide an optimal control method for the bouncing motion of the surface of small celestial bodies. Excavating the law of the mapping relationship between the initial state of the detector motion and the control thrust, and introducing the idea of ​​machine learning into the solution process of the optimal control thrust of the bouncing motion on the surface of small celestial bodies can significantly improve the calculation efficiency

Method used

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  • Optimal control method for bounce motion on surface of small celestial body

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Embodiment 1

[0184] In order to test the accuracy of the model, the calculation error analysis of the prediction calculation model is carried out. 3000 sets of data points were randomly selected, 800 sets of data were selected from the data set obtained by the optimization algorithm as the test set, and 200, 400, 800, 1000, and 1200 sets of data were selected from the remaining data as the training set to train the model. The relative error of the initial thrust prediction varies with the size of the training data as follows: figure 2 , the relative error of terminal thrust prediction varies with the size of training data as shown in image 3 , the error distribution diagram of the test sample under different training samples is obtained as Figure 4 .

[0185] Depend on figure 2 and image 3 It can be seen that when the training data reaches about 800 groups, with the increase of training data, the performance of the prediction model does not improve much. The average relative error...

Embodiment 2

[0188] Step one to four are the same as embodiment 1

[0189] It also includes step 5: using the predicted calculation results of step 4 to calculate the optimal trajectory of the bouncing movement of the surface of the small celestial body, and then solve the related engineering problems of the detection of the surface of the small celestial body;

[0190] In order to more fully test the performance of the method proposed by the present invention, the calculation time for obtaining the optimal trajectory is analyzed. The control thrust is applied to the beginning and end moments, so the model is trained twice, and the time used for prediction is shown in Table 1. And the time used by the convex optimization method is compared with the time used by the fast prediction method proposed by the present invention, and the results are shown in Table 2.

[0191] Table 1 Time taken to solve the optimal thrust

[0192]

[0193] Table 2 Comparison of the time used to obtain the opt...

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Abstract

The invention discloses an optimal control method for bounce motion on the surface of a small celestial body, and belongs to the technical field of deep space exploration. The method comprises the following steps: firstly, optimizing and solving bounce motion tracks on the surface of a detector at different positions to obtain sample data; and then, optimally selecting parameters of the prediction model, training sample data, and further establishing a prediction model of the optimal control thrust of the detector. According to the method, complex modeling and large-scale operation processes are avoided, the mapping relation between the control quantity and the initial value is directly established from the statistical perspective, and the thrust value can be rapidly and relatively accurately obtained, so that the solving efficiency is improved. The optimal motion trajectory of the detector can be quickly obtained by using the prediction calculation result of the optimal control thrust.

Description

technical field [0001] The invention relates to an optimal control method for bouncing motion on the surface of a small celestial body, belonging to the technical field of deep space detection. Background technique [0002] There are many forms of small celestial body detection, and the surface detection of small celestial bodies can help humans understand the characteristics of small celestial bodies more deeply. Due to the weak gravitational force near small celestial bodies, the surface cannot provide enough friction, and traditional wheeled detectors cannot effectively move on the surface of small celestial bodies. Therefore, the detection of small celestial bodies usually adopts the method of bouncing and moving. The detector moves by controlling the thrust, and the fuel reserve of the detector is limited, so reducing fuel consumption is of great significance to the development of detection tasks. In order to realize the bouncing surface detection scheme and calculate ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G06F30/27G06N20/00
CPCG05D1/0833G06F30/27G06N20/00G06F2111/10G06F2119/14
Inventor 高艾刘泰阳姜晓轮兀泽朝
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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