A generalized control method and system for intelligent spacecraft

Abstract

The present invention relates to an intelligent spacecraft generalized control method and system, and belongs to the field of spacecraft autonomous decision-making and control technology. The method includes: a perception step, determining a distance threat degree WX_TD according to a relative distance TD between the spacecraft and a threat target, determining a type threat degree WX_WQ according to a type WQ of the threat target, and calculating a comprehensive threat degree WX from the distance threat degree WX_TD and the type threat degree WX_WQ; a decision step, substituting the comprehensive threat degree WX into a target avoidance guidance law, and obtaining a spacecraft expected acceleration corresponding to keeping the relative distance between the spacecraft and the threat target within a safe range; a control step, inputting the spacecraft expected acceleration obtained in the decision step as a control instruction into a spacecraft control system, and the spacecraft control system makes the acceleration generated by the spacecraft effectively track the control instruction, so that the spacecraft can achieve evacuation and avoidance of the threat target.

Description

Technical Field

[0001] The present invention relates to an intelligent spacecraft generalized control method and system, which can be used for the design of intelligent spacecraft generalized control systems and guidance laws, and belongs to the field of spacecraft autonomous decision-making and control technology. Background Art

[0002] Due to the low intelligence level of traditional spacecraft equipped only with GNC systems, the perception and decision-making processes of almost all launched spacecraft currently require the support of ground personnel using high-fidelity models, that is, ground operation and maintenance personnel need to analyze telemetry data, give tasks and planning instructions, and then upload them into the spacecraft. Although this operation mode with human participation in the loop can complete some tasks such as space assembly, orbital maneuvers, and attitude orientation, when faced with increasingly complex game confrontations, due to problems such as ground-to-earth delay, data distortion, and spatial uncertainty, this mode has become a bottleneck restricting the implementation of space missions, and it is difficult to meet the growing needs of space exploration and game. Summary of the invention

[0003] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and propose an intelligent spacecraft generalized control method and system, which uses the threat level assessment result of the threat target as a parameter of the decision-making process to achieve the purpose of autonomously determining the convergence speed of the threat avoidance process according to the level of threat, so as to better deal with different threat targets.

[0004] The technical solution of the present invention is: an intelligent spacecraft generalized control method, the method comprising:

[0005] Perception step: According to the relative distance TD between the spacecraft and the threat target, determine the distance threat degree WX_TD of the threat target; according to the type WQ of the threat target, determine the type threat degree WX_WQ of the threat target; and calculate the comprehensive threat degree WX of the threat target based on the distance threat degree WX_TD and the type threat degree WX_WQ of the threat target;

[0006] Decision-making steps: Substitute the comprehensive threat level WX of the threat target into the target avoidance guidance law to find the expected acceleration of the spacecraft that keeps the relative distance between the spacecraft and the threat target within the safe range;

[0007] Control step: The expected acceleration of the spacecraft obtained in the decision step is input into the spacecraft control system as a control command. The spacecraft control system makes the acceleration generated by the spacecraft track the control command to achieve the evacuation of the spacecraft to the threat target.

[0008] Preferably, the calculation formula of the comprehensive threat level WX of the threat target is as follows:

[0009] WX=α*WX_TD+(1-α)*WX_WQ

[0010] Among them, α is the weight of distance threat, 0<α<1.

[0011] Preferably, the types of threat targets WQ include directed energy weapons, electronic jamming spacecraft, reconnaissance spacecraft and control spacecraft. The principle for determining the type threat level of the threat target is:

[0012] The type threat level corresponding to directed energy weapons>the type threat level corresponding to electronic jamming spacecraft>the type threat level corresponding to reconnaissance spacecraft>the type threat level corresponding to control spacecraft.

[0013] Preferably, the target avoidance guidance law is as follows:

[0014]

[0015] Where x, y, and z are the three-axis components of the position vector of the spacecraft relative to the target in the threat target orbit system, ω is the orbital angular velocity of the orbit where the spacecraft is located, R is the distance from the center of the spacecraft to the earth, μ is the earth's gravitational constant, and a x ,a y ,a z are the three-axis components of the spacecraft’s expected acceleration in the threat target’s orbital system, Δ x ,Δ y ,Δ z are the three-axis components of disturbance and uncertainty in the threat target orbit system; x0, y0, z0 are the three-axis components of the position vector of the spacecraft relative to the target in the safety range in the threat target orbit system; ε x To evacuate the x-direction control parameter, ε y To evacuate the y direction control parameter, ε z To evacuate the z-direction control parameter, ε x , ε y , ε z are always positive; the origin of the threat target orbit system is the center of mass of the threat target, the x-axis points to the flight direction of the threat target, the z-axis points to the center of the earth, and the y-axis is determined by the right-hand principle.

[0016] Preferably, the evacuation avoidance x-direction control parameter ε x , evacuation control parameter ε in the y direction y , evacuation control parameter ε in z direction z Determined according to the following formula:

[0017]

[0018]

[0019]

[0020] in,

[0021] X 12 =[X1,X2] T ,X 34 =[X3,X4] T ,X 56 =[X5,X6] T

[0022] X=[X1,X2,X3,X4,X5,X6],X1=x-x0, X3=y-y0, X5=z-z0,

[0023]

[0024]

[0025] P0 satisfies the Lyapunov equation The positive solution of min (P0) and λ max (P0) are the minimum and maximum eigenvalues ​​of the matrix P0, respectively, and t is the time from the start of threat avoidance implementation;

[0026] ζ 12 =[ζ1,ζ2] T ,ζ 34 =[ζ3,ζ4] T ,ζ 56 =[ζ5,ζ6] T

[0027]

[0028] Preferably, the values ​​of the three-axis components x0, y0, z0 of the position vector of the spacecraft relative to the target within the safety range in the threat target orbit system are determined according to the following principles:

[0029] If the threat target is a reconnaissance spacecraft, take: 45km≤x0≤55km,45km≤y0≤55km,45km≤z0≤55km;

[0030] If the threat target is electronic jammer, directed energy weapon or maneuverable spacecraft, select:

[0031] 95km≤x0≤105km,95km≤y0≤105km,95km≤z0≤105km.

[0032] Another technical solution provided by the present invention is: an intelligent spacecraft generalized control system, the system comprising:

[0033] Perception module: According to the relative distance TD between the spacecraft and the threat target, the distance threat degree WX_TD of the threat target is determined; according to the type WQ of the threat target, the type threat degree WX_WQ of the threat target is determined; and the comprehensive threat degree WX of the threat target is calculated from the distance threat degree WX_TD and the type threat degree WX_WQ of the threat target;

[0034] Decision module: Substitute the comprehensive threat level WX into the target avoidance guidance law to find the expected acceleration of the spacecraft that keeps the relative distance between the spacecraft and the threat target within a safe range;

[0035] Control module: The expected acceleration of the spacecraft obtained in the decision-making step is input into the spacecraft control system as a control command. The spacecraft control system makes the acceleration generated by the spacecraft effectively track the control command, thereby realizing the evacuation of the spacecraft from the threatening target.

[0036] The advantages of the present invention compared with the prior art are:

[0037] (1) The present invention uses the relative distance between the spacecraft and the threat target and the type of the threat target to comprehensively judge the threat level. The comprehensive threat level reflects the severity of the current situation and determines the convergence speed of the spacecraft avoidance process to a certain extent.

[0038] (2) The present invention uses the comprehensive threat level as a parameter of the guidance law in the decision-making process, so that the spacecraft has the ability to autonomously determine the guidance parameters;

[0039] (3) The present invention introduces the input-state stability theory and adjusts the guidance parameters to effectively suppress uncertainty and obtain higher trajectory control accuracy;

[0040] (4) The calculation process and guidance law obtained by the present invention are simple in form and can be easily implemented in a satellite-borne computer with limited computing resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flowchart of the method of the present invention. DETAILED DESCRIPTION

[0042] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] In view of the requirements for the intelligence of future spacecraft, this invention analyzes the command and control model based on the "Observation - Orientation - Decision - Action" (OODA) loop, breaks through the traditional control model and framework, explores the generalized control method of "perception - decision - control" for intelligent spacecraft, and provides a new idea for the design of future intelligent spacecraft.

[0044] This invention considers the design problem of the generalized control law for intelligent spacecraft, which is specifically divided into three levels: perception, decision - making, and control.

[0045] As Figure 1 shown in the flowchart of the method of this invention, the specific steps of a generalized control method for intelligent spacecraft provided by this invention are as follows:

[0046] Perception: Perceive the incoming threat targets based on information such as the relative distance TD between the spacecraft and the threat targets and the type WQ of the threat targets. Specifically: Determine the distance threat degree WX_TD of the threat target according to the relative distance TD between the spacecraft and the threat target, determine the type threat degree WX_WQ of the threat target according to the type WQ of the threat target, and calculate the comprehensive threat degree WX of the threat target from the distance threat degree WX_TD and the type threat degree WX_WQ of the threat target.

[0047] In this embodiment,

[0048] When 0km < TD < 10km, WX_TD = 3;

[0049] When 10km ≤ TD < 30km, WX_TD = 2;

[0050] When 30km ≤ TD < 50km, WX_TD = 1;

[0051] When 50km ≤ TD, WX_TD = 0.5;

[0052] As can be seen from the above, the principle for determining the distance threat degree WX_TD of the threat target is: the closer the relative distance TD between the spacecraft and the threat target, the greater the distance threat degree WX_TD.

[0053] When WQ = directed - energy weapon, WX_WQ = 4;

[0054] When WQ = electronic - interference spacecraft, WX_WQ = 3;

[0055] When WQ = reconnaissance spacecraft, WX_WQ = 2;

[0056] When WQ = control spacecraft, WX_WQ = 1;

[0057] From the above, it can be seen that the principle for determining the distance threat level WX_TD of the threat target is: the type threat level WX_WQ corresponding to the directed energy weapon> the type threat level WX_WQ corresponding to the electronic jamming spacecraft> the type threat level WX_WQ corresponding to the reconnaissance spacecraft> the type threat level WX_WQ corresponding to the control spacecraft.

[0058] The formula for calculating the comprehensive threat level is:

[0059] WX=α*WX_TD+(1-α)*WX_WQ;

[0060] Where α is the weight of the distance threat degree, and its value range is 0<α<1, and α=0.5 is usually taken.

[0061] Decision: Substitute the comprehensive threat level WX of the threat target into the target avoidance guidance law to find the expected acceleration of the spacecraft that keeps the relative distance between the spacecraft and the threat target within the safe range;

[0062] (1) Establish the relative motion equation between the spacecraft and the threat target

[0063]

[0064] Wherein, x, y, z are the three-axis components of the position vector of the spacecraft relative to the target in the threat target orbital system, the origin of the threat target orbital system is the center of mass of the threat target, the x-axis points to the flight direction of the threat target, the z-axis points to the center of the earth, and the y-axis is determined by the right-hand principle; ω is the orbital angular velocity of the spacecraft's orbit, R is the distance of the spacecraft from the center of the earth, μ is the earth's gravitational constant, and a x ,a y ,a z are the three-axis components of the control acceleration generated by the spacecraft in the threat target orbit system, Δ x ,Δ y ,Δ z are the three-axis components of disturbance and uncertainty in the threat target orbit system; x0, y0, z0 are the three-axis components of the position vector of the spacecraft relative to the target in the safety range in the threat target orbit system; ε x To evacuate the x-direction control parameter, ε y To evacuate the y direction control parameter, ε z To evacuate the z-direction control parameter, ε x , ε y , ε z Always positive.

[0065] (2) The key to designing the evasion guidance law for evading a threat target is to keep the relative distance between the spacecraft and the threat target within a safe range. Here, the three-axis components of the position vector of the spacecraft relative to the target in the threat target orbital system are assumed to be x0, y0, and z0 respectively;

[0066] If the threat target is a reconnaissance spacecraft, you can:

[0067] 45km≤x0≤55km,45km≤y0≤55km,45km≤z0≤55km;

[0068] If the threat target is electronic jammer, directed energy weapon or manipulatory spacecraft, it is advisable to:

[0069] 95km≤x0≤105km,95km≤y0≤105km,95km≤z0≤105km;

[0070] (3) In order to design the evasion guidance law so that the relative distance between the spacecraft and the threat target is kept within a safe range, the differential equation related to the relative motion between the spacecraft and the threat target is written in the form of a state space equation, and defined as:

[0071] X=[X1,X2,X3,X4,X5,X6],X1=x-x0, X3=y-y0, X5=z-z0,

[0072] Then we have:

[0073]

[0074] (4) According to formula (2), the avoidance guidance law is designed as follows

[0075]

[0076] Among them, ε x To evacuate the x-direction control parameter, ε y To evacuate the y direction control parameter, ε z is the z-direction control parameter for evacuation, which is always positive, and WX is the comprehensive threat degree obtained in step 2;

[0077] ε x ,ε y ,ε z The determination principles are as follows:

[0078] Substituting formula (3) into formula (2), we can get

[0079]

[0080] The matrix

[0081] Make the following transformation

[0082]

[0083] Convert formula (4) into

[0084]

[0085] in ζ=[ζ1,ζ2,ζ3,ζ4,ζ5,ζ6] T , Δ=[0,Δ x ,0,Δ y ,0,Δ z ] T , it can be seen that F0 is a Hurwitz matrix;

[0086] Take the Lyapunov function for ζ1, ζ2, ζ3, ζ4, ζ5, ζ6 respectively

[0087] V1=ζ 12 T P0ζ 12 (7)

[0088] V2=ζ 34 T P0ζ 34 (8)

[0089] V3=ζ 56 T P0ζ 56 (9)

[0090] where ζ 12 =[ζ1,ζ2] T , 34 =[ζ3,ζ4] T , 56 =[ζ5,ζ6] T , P0 satisfies the Lyapunov equation The derivatives of the above three Lyapunov equations are

[0091]

[0092]

[0093]

[0094] Considering

[0095] 2||ζ 12 ||||P0||Δ x≤ ||ζ 12 || 2 ||P0|| 2 +Δ x 2 (13)

[0096] 2||ζ 34 ||||P0||Δ y ≤ ||ζ 34 || 2 ||P0|| 2 +Δ y 2 (14)

[0097] 2||ζ 56 ||||P0||Δ z ≤ ||ζ 56 || 2 ||P0|| 2 +Δ z 2 (15)

[0098] Combining (10), (11), and (12) gives

[0099]

[0100]

[0101]

[0102] Also,

[0103] λ min (P0)||ζ 12 || 2 ≤ V1 ≤ λ max (P0)||ζ 12 || 2 (19)

[0104] λ min (P0)||ζ 34 || 2 ≤ V2 ≤ λ max (P0)||ζ 34 || 2 (20)

[0105] λ min (P0)||ζ 56 || 2 ≤ V3 ≤ λ max (P0)||ζ 56 || 2 (21)

[0106] where λmin (P0) and λ max (P0) are the minimum and maximum eigenvalues ​​of the matrix P0, respectively. Combining (5), (16), (17), and (18), we have

[0107]

[0108]

[0109]

[0110] Where: X 12 =[X1,X2] T ,X 34 =[X3,X4] T ,X 56 =[X5,X6] T ,

[0111] According to (22), (23), and (24), the obtained avoidance guidance law (3) can make the relative motion dynamic system resistant to disturbances and uncertainties Δ x ,Δ y ,Δ z It has input-state stability (ISS) (for details, see Khalil, HK, Nonlinear Systems, 3rd ed., Prentice-Hall, Upper Saddle River, NJ, 2002, Chapter 4), that is, state X 12 ,X 34 ,X 56 It can converge to the vicinity of zero and reduce the design parameter ε x ,ε y ,ε z Respectively inhibit Δ x ,Δ y ,Δ z For state X 12 ,X 34 ,X 56 The impact of X 12 ,X 34 ,X 56 The convergence speed.

[0112] Therefore, the design parameter ε x ,ε y ,ε zWhen formulas (22), (23), and (24) are satisfied, the target avoidance guidance law can keep the relative distance between the spacecraft and the threat target within the safe range corresponding to the expected acceleration of the spacecraft. Therefore, the evacuation avoidance x-direction control parameter ε x , evacuation control parameter ε in the y direction y , evacuation control parameter ε in z direction z Determined according to formulas (22), (23) and (24).

[0113] Usually take ε x =ε y =ε z =1, ε can also be adjusted by mathematical simulation x ,ε y ,ε z The value of X 12 ,X 34 ,X 56 The convergence speed can be adjusted. After obtaining satisfactory convergence speed and control accuracy, the next design step can be entered.

[0114] Control step: The expected acceleration of the spacecraft obtained in the decision step is input into the spacecraft control system as a control command. The spacecraft control system makes the acceleration generated by the spacecraft effectively track the control command, thereby realizing the evacuation of the spacecraft from the threat target.

[0115] Based on the above-mentioned intelligent spacecraft "perception-decision-control" generalized control method, the present invention also proposes an intelligent spacecraft generalized control system, which includes

[0116] Perception module: According to the relative distance TD between the spacecraft and the threat target, the distance threat degree WX_TD is determined, and according to the type WQ of the threat target, the type threat degree WX_WQ is determined. The comprehensive threat degree WX is calculated by the distance threat degree WX_TD and the type threat degree WX_WQ;

[0117] Decision module: Substitute the comprehensive threat level WX into the target avoidance guidance law to find the expected acceleration of the spacecraft that keeps the relative distance between the spacecraft and the threat target within a safe range;

[0118] Control module: The expected acceleration of the spacecraft obtained in the decision-making step is input into the spacecraft control system as a control command. The spacecraft control system makes the acceleration generated by the spacecraft effectively track the control command, thereby realizing the evacuation of the spacecraft from the threatening target.

[0119] The calculation formula of the comprehensive threat level WX is as follows:

[0120] WX=α*WX_TD+(1-α)*WX_WQ;

[0121] Where α is the weight of the distance threat degree, and its value range is 0<α<1, and α=0.5 is usually taken.

[0122] The types of threat targets WQ include directed energy weapons, electronic jamming spacecraft, reconnaissance spacecraft and control spacecraft. The principle for determining the type threat level WX_WQ is:

[0123] The type threat level corresponding to directed energy weapons WX_WQ>the type threat level corresponding to electronic jamming spacecraft WX_WQ>the type threat level corresponding to reconnaissance spacecraft WX_WQ>the type threat level corresponding to control spacecraft WX_WQ.

[0124] The target avoidance guidance law is as follows:

[0125]

[0126] Where x, y, and z are the three-axis components of the position vector of the spacecraft relative to the target in the threat target orbit system, ω is the orbital angular velocity of the orbit where the spacecraft is located, R is the distance from the center of the spacecraft to the earth, μ is the earth's gravitational constant, and a x ,a y ,a z are the three-axis components of the spacecraft’s expected acceleration in the threat target’s orbital system, Δ x ,Δ y ,Δ z are the three-axis components of disturbance and uncertainty in the threat target orbit system; x0, y0, z0 are the three-axis components of the position vector of the spacecraft relative to the target in the safety range in the threat target orbit system; ε x To evacuate the x-direction control parameter, ε y To evacuate the y direction control parameter, ε z To evacuate the z-direction control parameter, ε x , ε y , ε z are always positive; the origin of the threat target orbit system is the center of mass of the threat target, the x-axis points to the flight direction of the threat target, the z-axis points to the center of the earth, and the y-axis is determined by the right-hand principle.

[0127] The evacuation avoidance x-direction control parameter ε x , evacuation control parameter ε in the y direction y , evacuation control parameter ε in z direction z Determined according to the following formula:

[0128]

[0129]

[0130]

[0131] in,

[0132] X 12 =[X1,X2] T ,X 34 =[X3,X4] T ,X 56 =[X5,X6] T

[0133] X=[X1,X2,X3,X4,X5,X6],X1=x-x0, X3=y-y0, X5=z-z0,

[0134] , P0 satisfies the Lyapunov equation The positive solution of min (P0) and λ max (P0) are the minimum and maximum eigenvalues ​​of the matrix P0, respectively, and t is the time from the start of threat avoidance.

[0135] ζ 12 =[ζ1,ζ2] T ,ζ 34 =[ζ3,ζ4] T ,ζ 56 =[ζ5,ζ6] T

[0136]

[0137] The values ​​of the three-axis components x0, y0, and z0 of the safe relative distance range between the spacecraft and the target in the threat target orbit system are determined according to the following principles:

[0138] If the threat target is a reconnaissance spacecraft, take: 45km≤x0≤55km,45km≤y0≤55km,45km≤z0≤55km;

[0139] If the threat target is electronic jammer, directed energy weapon or maneuverable spacecraft, select:

[0140] 95km≤x0≤105km,95km≤y0≤105km,95km≤z0≤105km.

[0141] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A generalized control method for intelligent spacecraft, characterized in that include Perception step: According to the relative distance TD between the spacecraft and the threat target, determine the distance threat degree WX_TD of the threat target; according to the type WQ of the threat target, determine the type threat degree WX_WQ of the threat target; and calculate the comprehensive threat degree WX of the threat target based on the distance threat degree WX_TD and the type threat degree WX_WQ of the threat target; Decision-making steps: Substitute the comprehensive threat level WX of the threat target into the target avoidance guidance law to find the expected acceleration of the spacecraft that keeps the relative distance between the spacecraft and the threat target within the safe range; The target avoidance guidance law is as follows: Where x, y, and z are the three-axis components of the position vector of the spacecraft relative to the target in the threat target orbit system, ω is the orbital angular velocity of the orbit where the spacecraft is located, R is the distance from the center of the spacecraft to the earth, μ is the earth's gravitational constant, and a x ,a y ,a z are the three-axis components of the spacecraft’s expected acceleration in the threat target’s orbital system, Δ x ,Δ y ,Δ z are the three-axis components of disturbance and uncertainty in the threat target orbit system; x0, y0, z0 are the three-axis components of the position vector of the spacecraft relative to the target in the safety range in the threat target orbit system; ε x To evacuate the x-direction control parameter, ε y To evacuate the y direction control parameter, ε z To evacuate the z-direction control parameter, ε x , ε y , ε z are always positive; the origin of the threat target orbit system is the center of mass of the threat target, the x-axis points to the flight direction of the threat target, the z-axis points to the center of the earth, and the y-axis is determined by the right-hand principle; The evacuation avoidance x-direction control parameter ε x , evacuation control parameter ε in the y direction y , evacuation control parameter ε in z direction z Determined according to the following formula: in, X 12 =[X1,X2] T ,X 34 =[X3,X4] T ,X 56 =[X5,X6] T X=[X1,X2,X3,X4,X5,X6],X1=x-x0, X3=y-y0, X5=z-z0, P0 satisfies the Lyapunov equation The positive solution of min (P0) and λ max (P0) are the minimum and maximum eigenvalues ​​of the matrix P0, respectively, and t is the time from the start of threat avoidance implementation; g 12 =[ζ1,ζ2] T ,g 34 =[ζ3,ζ4] T ,g 56 =[ζ5,ζ6] T ζ2=X2, ζ4=X4, ζ6=X6; Control step: The expected acceleration of the spacecraft obtained in the decision step is input into the spacecraft control system as a control command. The spacecraft control system makes the acceleration generated by the spacecraft track the control command to achieve the evacuation of the spacecraft to the threat target.

2. The intelligent spacecraft generalized control method according to claim 1 is characterized in that The calculation formula of the comprehensive threat level WX of the threat target is as follows: WX=α×WX_TD+(1-α)×WX_WQ Among them, α is the weight of distance threat, 0<α<1.

3. The intelligent spacecraft generalized control method according to claim 1 is characterized in that The types of threat targets WQ include directed energy weapons, electronic jamming spacecraft, reconnaissance spacecraft and control spacecraft. The principle for determining the threat level of threat targets is: The type threat level corresponding to directed energy weapons>the type threat level corresponding to electronic jamming spacecraft>the type threat level corresponding to reconnaissance spacecraft>the type threat level corresponding to control spacecraft.

4. The intelligent spacecraft generalized control method according to claim 1, characterized in that The values ​​of the three-axis components x0, y0, and z0 of the position vector of the spacecraft relative to the target within the safety range in the threat target orbit system are determined according to the following principles: If the threat target is a reconnaissance spacecraft, select: 45km≤x0≤55km,45km≤y0≤55km,45km≤z0≤55km; If the threat target is electronic jammer, directed energy weapon or maneuverable spacecraft, select: 95km≤x0≤105km,95km≤y0≤105km,95km≤z0≤105km.

5. An intelligent spacecraft generalized control system, characterized in that include Perception module: According to the relative distance TD between the spacecraft and the threat target, the distance threat degree WX_TD of the threat target is determined; according to the type WQ of the threat target, the type threat degree WX_WQ of the threat target is determined; and the comprehensive threat degree WX of the threat target is calculated from the distance threat degree WX_TD and the type threat degree WX_WQ of the threat target; Decision module: Substitute the comprehensive threat level WX into the target avoidance guidance law to find the expected acceleration of the spacecraft that keeps the relative distance between the spacecraft and the threat target within a safe range; The target avoidance guidance law is as follows: Among them, x, y, z are the three-axis components of the relative distance between the spacecraft and the target in the threat target orbit system, ω is the orbital angular velocity of the orbit where the spacecraft is located, R is the distance from the center of the spacecraft, μ is the earth's gravitational constant, and a x ,a y ,a z are the three-axis components of the spacecraft’s expected acceleration in the threat target’s orbital system, Δ x ,Δ y ,Δ z are the three-axis components of disturbance and uncertainty in the threat target orbit system; x0, y0, z0 are the three-axis components of the position vector of the spacecraft relative to the target in the safety range in the threat target orbit system; ε x To evacuate the x-direction control parameter, ε y To evacuate the y direction control parameter, ε z To evacuate the z-direction control parameter, ε x , ε y , ε z are always positive; the origin of the threat target orbit system is the center of mass of the threat target, the x-axis points to the flight direction of the threat target, the z-axis points to the center of the earth, and the y-axis is determined by the right-hand principle; The evacuation avoidance x-direction control parameter ε x , evacuation control parameter ε in the y direction y , evacuation control parameter ε in z direction z Determined according to the following formula: in, X 12 =[X1,X2] T ,X 34 =[X3,X4] T ,X 56 =[X5,X6] T X=[X1,X2,X3,X4,X5,X6],X1=x-x0, X3=y-y0, X5=z-z0, P0 satisfies the Lyapunov equation The positive solution of min (P0) and λ max (P0) are the minimum and maximum eigenvalues ​​of the matrix P0, respectively, and t is the time from the start of threat avoidance implementation; g 12 =[ζ1,ζ2] T ,g 34 =[ζ3,ζ4] T ,g 56 =[ζ5,ζ6] T ζ2=X2, ζ4=X4, ζ6=X6; Control module: The expected acceleration of the spacecraft obtained in the decision-making step is input into the spacecraft control system as a control command. The spacecraft control system makes the acceleration generated by the spacecraft effectively track the control command, thereby realizing the evacuation of the spacecraft from the threatening target.

6. The intelligent spacecraft generalized control system according to claim 5, characterized in that The calculation formula of the comprehensive threat level WX of the threat target is as follows: WX=α×WX_TD+(1-α)×WX_WQ Where α is the weight of the distance threat degree, the value range is 0<α<1, and α=0.5 is usually taken.

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