Method for controlling stability of tethered combination under full-state constraint

A stable control method and state-constrained technology, which are applied in the aerospace field to achieve high-precision stable control and improve control performance.

Active Publication Date: 2022-03-25
NORTHWESTERN POLYTECHNICAL UNIV
View PDF9 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a method for controlling the stability of the rope assembly under full-state constraints, aiming at solving the problem of full-state constraints in the system, That is, the fast and stable control problem under both position and velocity constraints
Aiming at the existence of multiple uncertainties in the tether assembly system, an adaptive neural network scheme is designed to achieve a fast and accurate estimation...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Method for controlling stability of tethered combination under full-state constraint
  • Method for controlling stability of tethered combination under full-state constraint
  • Method for controlling stability of tethered combination under full-state constraint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0095] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0096] A stability control method for a tether assembly under full-state constraints, comprising the following steps:

[0097] Step 1: Establish an obstacle Lyapunov function under state constraints;

[0098] Step 1-1: According to the Euler-Lagrangian equation, the dynamic equation of the tether assembly system after capture is established as follows:

[0099]

[0100] Where q=[α,β,l] T ∈ R 3 is the generalized position coordinates of the system, where α, β, l are the in-plane angle, out-of-plane angle and length of the tether, respectively; are the generalized position (including in-plane angle, out-of-plane angle and tether length), velocity and acceleration variables of the system respectively; τ=[τ α ,τ β ,τ l ] T ∈ R 3 is the generalized force; M(q)∈R 3×3 is a positive definite symmetric matrix, is the Coriolis force matrix, G(q)∈R ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a stability control method for a tethered combination under full-state constraint, and aims to solve the problem of quick and stable control of a system under full-state constraint, namely limited position and speed. Aiming at a plurality of uncertainty factors existing in the tethered combination system, designing an adaptive neural network scheme, and realizing rapid and accurate estimation of the total uncertainty of the system; secondly, respectively considering the generalized position and speed constraint of the system, and designing a barrier Lyapunov Function (BLF) to solve the problem of full-state constraint; then, designing a robust adaptive controller by adopting a backstepping method, and ensuring rapid, high-precision and stable control of the tethered combination system in the presence of state constraints and various uncertainties; and finally, carrying out Lyapunov stability proving on the designed controller. According to the invention, the position and speed of the assembly system can be ensured to be always within a constraint range, and the rapid, high-precision and stable control of the tethered assembly system under the existence of various uncertainties can be realized.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and in particular relates to a method for stabilizing a tether assembly. Background technique [0002] Recently, many countries have carried out a lot of research on space cooperative target capture and achieved a series of fruitful results, but the control theory and technology for unstable non-cooperative target capture are still not perfect. [0003] The space tether capture device is a new type of space assembly composed of a platform and a target spacecraft connected by a flexible tether, and it is an effective tool to achieve unstable non-cooperative target capture. After the space tether spacecraft captures the unstable target, it will form a space tether assembly with the target, and it will be in a state of high-speed rotation instability. Stability control of it is a necessary prerequisite for subsequent fine operations such as orbital garbage cleaning and drag removal. [0004] At ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 沈刚辉黄攀峰张帆马志强张夷斋
Owner NORTHWESTERN POLYTECHNICAL UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap