Spacecraft tracking control method based on integrated linear operator and anti-saturation technology

A linear operator and tracking control technology, which is applied in the direction of aerospace vehicles, aerospace vehicle guidance devices, aircraft, etc., can solve the problem of low performance of spacecraft attitude track tracking maneuver control, to eliminate adverse effects, ensure stability, The effect of improving trajectory tracking accuracy

Active Publication Date: 2022-06-28
HARBIN INST OF TECH
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Problems solved by technology

[0007]The purpose of the present invention is to solve the short-distance space mission, the spacecraft is subject to the conditions of unfavorable working conditions such as inertial parameter uncertainty and input saturation, which lead to spaceflight In view of the low performance of spacecraft attitude orbit tracking maneuver control, a spacecraft tracking control method based on integrated linear operator and anti-saturation technology is proposed

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  • Spacecraft tracking control method based on integrated linear operator and anti-saturation technology
  • Spacecraft tracking control method based on integrated linear operator and anti-saturation technology
  • Spacecraft tracking control method based on integrated linear operator and anti-saturation technology

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specific Embodiment approach 1

[0026] Embodiment 1: The specific process of the spacecraft tracking control method based on the integrated linear operator and anti-saturation technology in this embodiment is as follows:

[0027] Step 1: Measure and obtain the attitude and orbit state of the target spacecraft and the attitude and orbit state of the tracking spacecraft, and determine the relative pose and attitude configuration between the target spacecraft and the tracking spacecraft based on the attitude and orbit state of the target spacecraft and the attitude and orbit state of the tracking spacecraft. Obtain the position and attitude tracking error of the tracking spacecraft from the relative pose configuration between the target spacecraft and the tracking spacecraft;

[0028] Step 2: Determine the velocity tracking error in the body coordinate system of the tracking spacecraft based on the relative pose configuration between the target spacecraft and the tracking spacecraft;

[0029] Step 3: Based on S...

specific Embodiment approach 2

[0034] Embodiment 2: The difference between this embodiment and Embodiment 1 is that in step 1, the attitude and orbit status of the target spacecraft and the attitude and orbit status of the tracking spacecraft are measured and obtained, and the attitude and orbit status of the target spacecraft and the attitude and orbit status of the tracking spacecraft are obtained based on the attitude and orbit status of the target spacecraft. The orbit state determines the relative pose configuration between the target spacecraft and the tracking spacecraft, and obtains the tracking spacecraft pose tracking error based on the relative pose configuration between the target spacecraft and the tracking spacecraft; the specific process is as follows:

[0035] Measure and obtain the attitude and orbit state of the target spacecraft and tracking spacecraft attitude and orbit status Determine the relative pose configuration between the target spacecraft and the tracking spacecraft Obtain t...

specific Embodiment approach 3

[0040] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the exponential coordinate vector β for tracking the position tracking error of the spacecraft is expressed as:

[0041] β=S -1 (θ)x

[0042]

[0043]

[0044] Among them, I 3 is a 3-dimensional identity matrix, and S(θ) is an intermediate matrix.

[0045] Other steps and parameters are the same as in the first or second embodiment.

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Abstract

The invention relates to a spacecraft tracking control method, in particular to a spacecraft tracking control method based on an integrated linear operator and an anti-saturation technology. The objective of the invention is to solve the problem of low attitude orbit tracking maneuvering control performance of a spacecraft caused by the fact that the spacecraft is subject to unfavorable working conditions such as inertia parameter uncertainty and input saturation in a short-distance space task. The method comprises the following steps: measuring and obtaining attitude and orbit states of a target and a tracking spacecraft, determining a relative pose configuration between the target and the tracking spacecraft, and obtaining a pose tracking error of the tracking spacecraft; determining a speed tracking error under a tracking spacecraft body coordinate system; defining a filtering error of the target and the tracking spacecraft under the coordinates of the tracking spacecraft body; introducing a linear operator, and determining an inertial parameter updating matrix; obtaining real-time estimation of inertial parameters; obtaining an anti-saturation auxiliary system state vector; and obtaining a control input vector to execute a pose integrated tracking control strategy. The method is applied to the field of spacecraft tracking control.

Description

technical field [0001] The present invention relates to a spacecraft tracking control method. Background technique [0002] In space missions such as spacecraft formation flying and rendezvous and docking, the traditional control technology often adopts the idea of ​​independent control of attitude and orbit. This strategy ignores the coupling effect between attitude and orbit, and it is difficult to meet the requirements of high-precision control. ; When considering model uncertainty, subject to the nonlinear existence of parameters, the uncertainty is often first classified as a part of the total disturbance of the system, and then processed by estimation structures such as neural networks or observers. It greatly increases the complexity of the closed-loop system and is difficult to apply to actual aerospace missions; for input saturation, most strategies are used to avoid saturation. This strategy will increase the difficulty and conservatism of controller design, which ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G1/24
CPCB64G1/242B64G1/244B64G1/245
Inventor 叶东张洪珠肖岩孙兆伟
Owner HARBIN INST OF TECH
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