Electromagnetic spacecraft control method and device, product and electronic equipment

Abstract

The invention provides an electromagnetic spacecraft control method and device, a product and electronic equipment, and relates to the technical field of spacecraft control, and the method can obtain a directed connected topology network of an electromagnetic spacecraft formation system and a kinetic equation of each electromagnetic spacecraft, and further obtains a control result based on the kinetic equations and the directed connected topology network. According to the method, the distributed control protocol is constructed, and when the state updating error of the distributed control protocol meets the preset condition, the position of each electromagnetic spacecraft is controlled based on the distributed control protocol, so that communication resources can be saved while the electromagnetic spacecrafts are accurately controlled; and the problem of actuator saturation involved in the formation configuration keeping process of the multi-electromagnetic spacecraft formation system can be solved, compared with the related technology, the inherent characteristics of the electromagnetic spacecrafts are considered, communication does not need to be triggered at each moment, and the communication efficiency is improved. And the communication only needs to be triggered when the state updating error of the distributed control protocol meets the preset condition.

Description

Technical Field

[0001] The present application relates to the field of spacecraft control technology, and in particular to an electromagnetic spacecraft control method, an electromagnetic spacecraft control device, a computer program product, and an electronic device. Background Art

[0002] The electromagnetic spacecraft formation system includes multiple electromagnetic spacecraft, which can jointly carry out on-orbit missions. The management goal of the electromagnetic spacecraft formation system is to control the flight altitude with high precision and minimize fuel consumption. The electromagnetic spacecraft includes on-board controllable electromagnetic devices, which can enable the electromagnetic spacecraft to meet the requirements of long-term space missions. However, the physical actuator capabilities of electromagnetic spacecraft are limited by superconducting coil technology, so the study of actuator saturation is one of the important nonlinear problems in engineering systems.

[0003] To solve this problem, related technologies use methods such as the Riccati Equation and the parametric Lyapunov approach to achieve low-gain feedback. However, the Riccati Equation method relies on the solution of the numerical stiffness of each parameter, and the parametric Lyapunov Equation method easily leads to complex parameter configuration of the controller.

[0004] In the process of electromagnetic spacecraft control, it is usually necessary to ensure the communication needs of each electromagnetic spacecraft. Different actuator saturation will lead to different resource allocation requirements of multiple agents in the communication network. In addition, the bandwidth of the communication network and the load of the spacecraft are limited. Related technologies usually require continuous-time algorithms to communicate at every moment, and require discrete-time algorithms to communicate at each agent state iteration. Using related technologies to realize electromagnetic spacecraft control has the problem of large communication resource consumption.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute an existing solution known to ordinary technicians in the field. Summary of the invention

[0006] The purpose of the present application is to provide an electromagnetic spacecraft control method, an electromagnetic spacecraft control device, a computer-readable storage medium and an electronic device, which can obtain the directed connected topological network of the electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft, and then build a distributed control protocol based on the dynamic equations and the directed connected topological network, and when the state update error of the distributed control protocol meets the preset conditions, the position of each electromagnetic spacecraft is controlled based on the distributed control protocol, which can save communication resources while accurately controlling the electromagnetic spacecraft, and can solve the actuator saturation problem involved in the formation configuration maintenance process of a multi-electromagnetic spacecraft formation system. Compared with related technologies, the inherent characteristics of the electromagnetic spacecraft are taken into account, and there is no need to trigger communication at every moment, and communication only needs to be triggered when the state update error of the distributed control protocol meets the preset conditions.

[0007] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0008] According to one aspect of the present application, there is provided an electromagnetic spacecraft control method, the method comprising:

[0009] Obtain the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system;

[0010] Obtain the directed connected topological network of the electromagnetic spacecraft formation system;

[0011] Construct a distributed control protocol based on dynamic equations and directed connected topology networks;

[0012] When the state update error of the distributed control protocol meets the preset conditions, the position of each electromagnetic spacecraft is controlled based on the distributed control protocol.

[0013] In an exemplary embodiment of the present application, obtaining the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system includes:

[0014] Determine the center of mass of the electromagnetic spacecraft formation system, and use the center of mass as the origin to construct a body coordinate system; wherein the electromagnetic spacecraft formation system includes a main electromagnetic spacecraft and a follower electromagnetic spacecraft;

[0015] Determine the first dynamic equation corresponding to the main electromagnetic spacecraft which is not affected by the follower electromagnetic spacecraft based on the body coordinate system;

[0016] Determine the second dynamic equation corresponding to the follower electromagnetic spacecraft based on the body coordinate system;

[0017] The first dynamic equation and the second dynamic equation are linearly processed to obtain the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system.

[0018] In an exemplary embodiment of the present application, obtaining a directed connected topological network of an electromagnetic spacecraft formation system includes:

[0019] Characterize each electromagnetic spacecraft as a mirror node;

[0020] In response to the communication between the main electromagnetic spacecraft and any follower electromagnetic spacecraft, a directed connected topological relationship is generated based on the mirror node until a directed connected topological network consisting of a plurality of directed connected topological relationships is obtained.

[0021] In an exemplary embodiment of the present application, a distributed control protocol is constructed based on a dynamic equation and a directed connected topology network, including:

[0022] A distributed control protocol is constructed based on dynamic equations, directed connected topology networks, low-gain feedback control methods for actuator saturation, and event-triggered control methods.

[0023] In an exemplary embodiment of the present application, a distributed control protocol is constructed based on a dynamic equation, a directed connected topology network, a low-gain feedback control method for actuator saturation, and an event-triggered control method, including:

[0024] Based on the dynamic equations and the directed connected topology network, the state update error of the distributed control protocol after the event is triggered is determined;

[0025] A distributed control protocol is determined based on a low-gain feedback control method and an event-triggered control method with actuator saturation.

[0026] In an exemplary embodiment of the present application, it further includes:

[0027] Generate an event trigger function corresponding to a distributed control protocol;

[0028] The state update error of the distributed control protocol is substituted into the event trigger function, and the reference data is calculated. If the reference data meets the preset conditions, it is determined that the state update error of the distributed control protocol meets the preset conditions.

[0029] In an exemplary embodiment of the present application, position control of each electromagnetic spacecraft is performed based on a distributed control protocol, including:

[0030] Trigger the execution of distributed control protocol based on event-triggered functions;

[0031] Based on the execution result of the distributed control protocol, the position of each electromagnetic spacecraft is controlled until the state update error is zero.

[0032] According to one aspect of the present application, there is provided an electromagnetic spacecraft control device, comprising:

[0033] The electromagnetic manipulation dynamics model building module is used to obtain the dynamics equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system;

[0034] A directed connected network communication topology building module is used to obtain the directed connected topology network of the electromagnetic spacecraft formation system;

[0035] A consistent control protocol building module, which is used to build distributed control protocols based on dynamic equations and directed connected topology networks;

[0036] The electromagnetic spacecraft position control module is used to control the position of each electromagnetic spacecraft based on the distributed control protocol when the state update error of the distributed control protocol does not meet the preset conditions.

[0037] In an exemplary embodiment of the present application, the electromagnetic manipulation dynamics model construction module obtains the dynamics equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system, including:

[0038] Determine the center of mass of the electromagnetic spacecraft formation system, and use the center of mass as the origin to construct a body coordinate system; wherein the electromagnetic spacecraft formation system includes a main electromagnetic spacecraft and a follower electromagnetic spacecraft;

[0039] Determine the first dynamic equation corresponding to the main electromagnetic spacecraft which is not affected by the follower electromagnetic spacecraft based on the body coordinate system;

[0040] Determine the second dynamic equation corresponding to the follower electromagnetic spacecraft based on the body coordinate system;

[0041] The first dynamic equation and the second dynamic equation are linearly processed to obtain the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system.

[0042] In an exemplary embodiment of the present application, the directed connected network communication topology building module obtains the directed connected topology network of the electromagnetic spacecraft formation system, including:

[0043] Characterize each electromagnetic spacecraft as a mirror node;

[0044] In response to the communication between the main electromagnetic spacecraft and any follower electromagnetic spacecraft, a directed connected topological relationship is generated based on the mirror node until a directed connected topological network consisting of a plurality of directed connected topological relationships is obtained.

[0045] In an exemplary embodiment of the present application, the consistency control protocol building module builds a distributed control protocol based on a dynamic equation and a directed connected topology network, including:

[0046] A distributed control protocol is constructed based on dynamic equations, directed connected topology networks, low-gain feedback control methods for actuator saturation, and event-triggered control methods.

[0047] In an exemplary embodiment of the present application, the consistency control protocol building module builds a distributed control protocol based on a dynamic equation, a directed connected topology network, a low-gain feedback control method for actuator saturation, and an event-triggered control method, including:

[0048] Based on the dynamic equations and the directed connected topology network, the state update error of the distributed control protocol after the event is triggered is determined;

[0049] A distributed control protocol is determined based on a low-gain feedback control method and an event-triggered control method with actuator saturation.

[0050] In an exemplary embodiment of the present application, it further includes:

[0051] An event trigger function determination module, used to generate an event trigger function corresponding to a distributed control protocol;

[0052] The condition determination module is used to substitute the state update error of the distributed control protocol into the event trigger function, calculate the reference data, and if the reference data meets the preset conditions, determine that the state update error of the distributed control protocol meets the preset conditions.

[0053] In an exemplary embodiment of the present application, the electromagnetic spacecraft position control module performs position control on each electromagnetic spacecraft based on a distributed control protocol, including:

[0054] Trigger the execution of distributed control protocol based on event-triggered functions;

[0055] Based on the execution result of the distributed control protocol, the position of each electromagnetic spacecraft is controlled until the state update error is zero.

[0056] According to one aspect of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, any one of the above methods is implemented.

[0057] According to one aspect of the present application, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform any one of the above methods by executing the executable instructions.

[0058] The exemplary embodiments of the present application may have some or all of the following beneficial effects:

[0059] In an electromagnetic spacecraft control method provided in an example embodiment of the present application, a directed connected topological network of an electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft can be obtained, and then a distributed control protocol can be constructed based on the dynamic equations and the directed connected topological network. When the state update error of the distributed control protocol meets the preset conditions, the position of each electromagnetic spacecraft is controlled based on the distributed control protocol. This can save communication resources while accurately controlling the electromagnetic spacecraft, and can solve the actuator saturation problem involved in the formation configuration maintenance process of a multi-electromagnetic spacecraft formation system. Compared with related technologies, the inherent characteristics of the electromagnetic spacecraft are taken into account, and there is no need to trigger communication at every moment, but only needs to trigger communication when the state update error of the distributed control protocol meets the preset conditions.

[0060] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0062] Figure 1 A flow chart of an electromagnetic spacecraft control method according to an embodiment of the present application is schematically shown;

[0063] Figure 2 A schematic diagram of coordinates of an electromagnetic spacecraft formation system according to an embodiment of the present application is shown;

[0064] Figure 3 A schematic diagram of a mirror node according to an embodiment of the present application is schematically shown;

[0065] Figure 4 A schematic diagram of a directed connected topology network according to an embodiment of the present application is shown schematically;

[0066] Figure 5 A schematic diagram of a controller adaptive coupling result weight according to an embodiment of the present application is shown schematically;

[0067] Figure 6 A schematic diagram of consistency error according to an embodiment of the present application is shown schematically;

[0068] Figure 7 A schematic diagram of event triggering timing according to an embodiment of the present application is shown schematically;

[0069] Figure 8 A schematic diagram of a control input according to an embodiment of the present application is shown schematically;

[0070] Fig. 9 A structural block diagram of an electromagnetic spacecraft control device according to an embodiment of the present application is schematically shown;

[0071] Fig.10 The structure diagram of a computer system suitable for implementing an electronic device of an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0072] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present application will be more comprehensive and complete, and the concept of the example embodiments will be fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical solutions of the present application may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present application.

[0073] In addition, the accompanying drawings are only schematic illustrations of the present application and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and thus their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0074] See also Figure 1 , Figure 1 The flowchart of the electromagnetic spacecraft control method according to one embodiment of the present application is schematically shown. Figure 1 As shown, the electromagnetic spacecraft control method may include: steps S110 to S140.

[0075] Step S110: Obtain the dynamic equation of each electromagnetic spacecraft in the electromagnetic spacecraft formation system.

[0076] Step S120: Obtain a directed connected topological network of the electromagnetic spacecraft formation system.

[0077] Step S130: constructing a distributed control protocol based on the dynamic equation and the directed connected topology network.

[0078] Step S140: When the state update error of the distributed control protocol meets the preset conditions, position control is performed on each electromagnetic spacecraft based on the distributed control protocol.

[0079] Implementation Figure 1 The method shown can obtain the directed connected topological network of the electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft, and then construct a distributed control protocol based on the dynamic equations and the directed connected topological network, and when the state update error of the distributed control protocol meets the preset conditions, the position of each electromagnetic spacecraft is controlled based on the distributed control protocol. It can save communication resources while accurately controlling the electromagnetic spacecraft, and can solve the actuator saturation problem involved in the formation configuration maintenance process of the multi-electromagnetic spacecraft formation system. Compared with related technologies, the inherent characteristics of the electromagnetic spacecraft are taken into account, and there is no need to trigger communication at every moment, but only when the state update error of the distributed control protocol meets the preset conditions.

[0080] Next, the above steps of this exemplary embodiment are described in more detail.

[0081] In step S110, the dynamic equation of each electromagnetic spacecraft in the electromagnetic spacecraft formation system is obtained.

[0082] Specifically, the electromagnetic spacecraft formation system includes a plurality of electromagnetic spacecraft, which are spacecraft equipped with onboard controllable electromagnetic devices and used to perform various on-orbit tasks. The dynamic equation of each electromagnetic spacecraft is specifically the translational motion dynamic equation of the corresponding electromagnetic spacecraft.

[0083] As an optional embodiment of step S110, obtaining the dynamic equation of each electromagnetic spacecraft in the electromagnetic spacecraft formation system includes:

[0084] Step S1101: determining the center of mass of the electromagnetic spacecraft formation system, and constructing a body coordinate system using the center of mass as the origin; wherein the electromagnetic spacecraft formation system includes a main electromagnetic spacecraft and a follower electromagnetic spacecraft;

[0085] Step S1102: determining a first dynamic equation corresponding to a main electromagnetic spacecraft that is not affected by the follower electromagnetic spacecraft based on the body coordinate system;

[0086] Step S1103: determining a second dynamic equation corresponding to the follower electromagnetic spacecraft based on the body coordinate system;

[0087] Step S1104: Linearly process the first dynamic equation and the second dynamic equation to obtain the dynamic equation of each electromagnetic spacecraft in the electromagnetic spacecraft formation system.

[0088] It can be seen that by implementing this optional embodiment, a directed connected topological network of the electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft can be obtained, which is conducive to position control of each electromagnetic spacecraft, so as to save communication resources while accurately controlling the electromagnetic spacecraft.

[0089] Specifically, the electromagnetic force on electromagnetic spacecraft can be calculated Among them, the free space permeability constant μ0=4π×10 7 H / m,μ i and μ j are the electromagnetic magnetic moments of electromagnetic spacecraft i and electromagnetic spacecraft j in the electromagnetic spacecraft formation system, and the relative position between electromagnetic spacecraft i and electromagnetic spacecraft j is represented by r ij =||r ij ||2, for r ij Find the 2-norm to get r ij .

[0090] Then, all electromagnetic spacecrafts in the electromagnetic spacecraft formation system can be obtained, and the body coordinate system O can be constructed with the center of mass CM of the electromagnetic spacecraft formation system as the origin OCM b X bi Y bi Z bi ; Among them, the body coordinate system O b X bi Y bi Z bi The xy axis is obtained along the distance between the center of mass CM and the center of the earth, and the body coordinate system O b X bi Y bi Z bi The z-axis is obtained by the right-hand rectangular coordinate rule.

[0091] Assuming that the reference spacecraft is located at the center of mass of the formation and provides reference trajectories for the remaining spacecraft, the orbital dynamics model is:

[0092]

[0093] Among them, the gravitational constant u i It is expressed as the electromagnetic force acceleration acting on electromagnetic spacecraft i, m i represents the mass of the i-th electromagnetic spacecraft, Represents the disturbance force on the electromagnetic spacecraft. Based on the orbital dynamics model, the position vector ρ of the electromagnetic spacecraft i relative to the reference spacecraft can be determined i =R i -R CM Based on this, the body coordinate system can be determined The relative translation dynamics expression in is: Where Ω represents the orbital angular velocity of the reference spacecraft, and the eccentricity, semi-major axis and average orbital angular velocity of the reference spacecraft are e C 、a C 、n C Based on this, we can get the following expression: Following the second dynamic equation corresponding to the electromagnetic spacecraft

[0094] in, represents the orbital angular velocity of the reference spacecraft, and the relative position of spacecraft i to the reference spacecraft is ρ i(t) =[x i(t) ,y i(t) ,z i(t） ] T , the coefficient matrix Nonlinear term N(·)∈R 3 Defined as

[0095] Based on the above formula, the first dynamic equation corresponding to the main electromagnetic spacecraft that is not affected by the follower electromagnetic spacecraft can be determined:

[0096] Then, the first dynamic equation and the second dynamic equation are subjected to the ξ i (t) = [ρ i(t) ,v i(t) ] T , the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system can be obtained in, sat() is the saturation function.

[0097] Among them, the consistency control target of the main electromagnetic spacecraft and the follower electromagnetic spacecraft in the electromagnetic spacecraft formation system can be expressed as:

[0098] For a coordinate diagram of the electromagnetic spacecraft formation system, please refer to Figure 2 ,like Figure 2 As shown, O E X I Y I ZI is the Earth's mass center coordinate system, which can be expressed as O E For the Earth, X I Y I Z I They are the x-axis, y-axis and z-axis of the Earth's mass center coordinate system. b X bi Y bi Z bi is the body coordinate system of the electromagnetic spacecraft. b is the center of mass of the electromagnetic spacecraft, X bi Y bi Z bi are the x-axis, y-axis and z-axis of the body coordinate system, respectively, where the number of the electromagnetic spacecraft is i=1,...,N. For example, the body coordinate system of electromagnetic spacecraft 1 is O b X b1 Y b1 Z b1 The center-of-mass coordinate system of the electromagnetic spacecraft formation system is O CM X CM Y CM Z CM , which can be expressed as O CM The center of the electromagnetic spacecraft formation system, X CM Y CM Z CM They are the x-axis, y-axis and z-axis of the center-of-mass coordinate system of the electromagnetic spacecraft formation system. In addition, i represents the orbital inclination, ω represents the argument of periapsis, Ω represents the longitude and latitude of the ascending node, and υ represents the true anomaly.

[0099] In step S120, a directed connected topological network of the electromagnetic spacecraft formation system is obtained.

[0100] Specifically, the directed connected topology network can be found in Figure 4 , Figure 4 Each node in the figure represents a different electromagnetic spacecraft, and the directed line segments between the nodes are used to represent the connectivity between the electromagnetic spacecraft.

[0101] A directed connected topology network belongs to the three-layer network framework if and only if it meets the following conditions:

[0102] On the one hand, the directed connected topology network including the leadership layer, the middle layer, and the follower layer is defined as This includes a set of vertices A set of edges elementa ij (t) Non-negative weighted adjacency matrix

[0103] On the second aspect, the leading spacecraft continues to evolve without being affected by followers and mirror nodes, and the middle-layer spacecraft is affected by the leader, some followers, and mirror nodes, and the number of nodes is more than 2. Spacecraft play different roles in the evolution of the system. Mirror nodes can characterize battery spacecraft. The mirror node network is defined as: in, and are the mirror set and mirror weight adjacency matrix of the time-varying edges respectively. At the same time, the Laplacian matrix satisfy as well as If and only if there is communication from the leader to the i-th follower, define a ij is the i*jth element in the adjacency weight adjacency matrix.

[0104] Third, the communication of the follower layer nodes is only affected by their neighbor nodes.

[0105] Fourth, the status information from the leader layer to the follower layer is transmitted by the intermediate layer spacecraft. For details, please refer to Figure 3 Figure (b).

[0106] As an optional embodiment of step S120, obtaining a directed connected topological network of the electromagnetic spacecraft formation system includes:

[0107] Step S1201: characterize each electromagnetic spacecraft as a mirror node;

[0108] Step S1202: In response to the communication between the main electromagnetic spacecraft and any follower electromagnetic spacecraft, a directed connected topological relationship is generated based on the mirror node until a directed connected topological network consisting of a plurality of directed connected topological relationships is obtained.

[0109] It can be seen that by implementing this optional embodiment, a directed connected topological relationship based on mirror nodes can be proposed. The directed connected topological relationship reflects the communication framework of the electromagnetic spacecraft. A mirror node represents an electromagnetic spacecraft in the system. If the consistency condition is achieved for each role, consistent control of all electromagnetic spacecraft can be achieved.

[0110] Specifically, after characterizing each electromagnetic spacecraft as a mirror node, a mirror node diagram can be obtained. For details, please refer to Figure 3 .exist Figure 3 In the figure, Figure (a) and Figure (b) are shown, which are used to represent different forms of mirror node relationships.

[0111] In step S130, a distributed control protocol is constructed based on the dynamic equations and the directed connected topology network.

[0112] As an optional embodiment of step S130, a distributed control protocol is constructed based on the dynamic equation and the directed connected topology network, including:

[0113] Step S1301: construct a distributed control protocol based on the dynamic equation, the directed connected topology network, the actuator saturated low-gain feedback control method and the event-triggered control method.

[0114] It can be seen that implementing this optional embodiment and performing position control on each electromagnetic spacecraft based on a distributed control protocol can save communication resources while accurately controlling the electromagnetic spacecraft, and can solve the actuator saturation problem involved in the formation configuration maintenance process of a multi-electromagnetic spacecraft formation system.

[0115] Specifically, the low-gain feedback control method and event-triggered control method of actuator saturation belong to the prior art methods and will not be described in detail here.

[0116] Among them, the distributed control coordination can be expressed as: The consistency error of the distributed control protocol is defined as: lim t→∞ ||ξ i (t)-ξ N+1 (t)||=0,i=1,…,N. Among them, u i is the control input of electromagnetic spacecraft i, c ij Represents the edge (v i ,v j ), K and Γ are the feedback gain matrices, K∈R p×n ,Γ∈R n×n , κ ij is a positive constant κ ij =k ji ,ξ i (t) represents the node state following the electromagnetic spacecraft, ξ N+1 (t) represents the node status of the main electromagnetic spacecraft.

[0117] As an optional embodiment of step S1301, a distributed control protocol is constructed based on a dynamic equation, a directed connected topology network, a low-gain feedback control method for actuator saturation, and an event-triggered control method, including:

[0118] Step S13011: determining a state update error of a distributed control protocol after an event is triggered based on a dynamic equation and a directed connected topology network;

[0119] Step S13012: Determine a distributed control protocol based on a low-gain feedback control method and an event-triggered control method for actuator saturation.

[0120] It can be seen that the implementation of this optional embodiment can be based on a low-gain feedback design method rather than a characteristic structure allocation algorithm or a parameter ARE method, which relaxes the assumption that the system is asymptotically zero controllable under bounded control. In addition, combined with an adaptive event-triggered protocol method, the control protocol only relies on sampled local information of each electromagnetic spacecraft and its neighbors, and does not require continuous communication in control law updates or trigger condition monitoring, which can reduce communication energy consumption and avoid the phenomenon of events being triggered infinitely.

[0121] Specifically, based on the dynamic equation and the directed connected topology network, the state update error of the distributed control protocol after the event is triggered is determined. The state update error is expressed as

[0122] Among them, based on the dynamic equation, directed connected topology network, low-gain feedback control method of actuator saturation and event-triggered control method, the way to construct a distributed control protocol may include: solving the matrix inequality PA+A T P-PBB T P+I<0, to determine P<0, and then calculate the feedback parameter matrix K=-B in the low gain feedback control method T P and Γ = PBB T P, to determine f based on the calculation results i The parameter values ​​β and μ in (t) i 、v i (t).

[0123] As an optional embodiment, it also includes:

[0124] Generate an event trigger function corresponding to a distributed control protocol;

[0125] The state update error of the distributed control protocol is substituted into the event trigger function, and the reference data is calculated. If the reference data meets the preset conditions, it is determined that the state update error of the distributed control protocol meets the preset conditions.

[0126] It can be seen that, when implementing this optional embodiment, there is no need to trigger communication at every moment, and communication only needs to be triggered when the state update error of the distributed control protocol meets the preset conditions.

[0127] Specifically, the event trigger function can be expressed as: Substituting the state update error of the distributed control protocol into the event trigger function, the reference data can be calculated If the reference data meets the preset condition, it is determined that the state update error of the distributed control protocol meets the preset condition. The preset condition can be limited to a value or an expression.

[0128] In step S140, when the state update error of the distributed control protocol meets the preset conditions, the position of each electromagnetic spacecraft is controlled based on the distributed control protocol.

[0129] As an optional embodiment of step S140, position control of each electromagnetic spacecraft is performed based on a distributed control protocol, including:

[0130] Step S1401: triggering the execution of a distributed control protocol based on an event-triggered function;

[0131] Step S1402: Based on the execution result of the distributed control protocol, position control is performed on each electromagnetic spacecraft until the state update error is zero.

[0132] It can be seen that, when implementing this optional embodiment, there is no need to trigger communication at every moment, and communication only needs to be triggered when the state update error of the distributed control protocol meets the preset conditions.

[0133] Specifically, the event trigger time Defined as When the state update error of the distributed control protocol meets the preset conditions, that is, when the event occurs, the electromagnetic spacecraft v i It can update the position of its controller with its current state and propagate its current state to its neighbors; and measure the error e i (t) is reset to zero. When each electromagnetic spacecraft receives new status information from its neighbors, it can update the position of its own controller, thereby achieving position control for each electromagnetic spacecraft.

[0134] Under the event-triggered control method, the consistency error and coupling gain c ij Under the action of the consistency control protocol, it is asymptotically stable and ultimately bounded. This conclusion can be proved to be effective by the following:

[0135] Construct Lyapunov stability theory (Lyapunov) function: The Lyapunov function is positive definite.

[0136] Derivative of the Lyapunov function yields:

[0137] Furthermore, the relationship between the variables and Young's inequality can be derived: in, Substituting the event trigger function into this inequality yields

[0138] Further deduction in, When lim t→∞ Δ7t,δ1,v (0,k) 8 = 0, Therefore, it can be seen that the Lyapunov function is bounded and stable, and the event-triggered function based on the distributed control protocol can effectively control the proposed multi-electromagnetic spacecraft system.

[0139] Through simulation experiments, we can get Figure 5 The adaptive coupling weights of the controller shown converge to a constant value, achieving bounded stability. Figure 6 It shows that the displacement error diagram is consistent under the proposed event-triggered distributed control protocol, which improves the control effect and robustness well. Figure 7 The update of the control protocol is not continuous, which can save communication resources. Figure 7 The input saturation limit of the intermediate spacecraft 1 and 3 is set to 0.5, and the following can be obtained: Figure 8 Control input diagram for spacecraft 1 and 2 shown.

[0140] See also Fig. 9 , Fig. 9 The structure block diagram of the electromagnetic spacecraft control device according to one embodiment of the present application is schematically shown. Figure 1 The method shown corresponds to Fig. 9 As shown, the electromagnetic spacecraft control device 900 includes:

[0141] The electromagnetic manipulation dynamics model building module 901 is used to obtain the dynamics equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system;

[0142] A directed connected network communication topology building module 902 is used to obtain a directed connected topology network of an electromagnetic spacecraft formation system;

[0143] A consistency control protocol building module 903 is used to build a distributed control protocol based on dynamic equations and a directed connected topology network;

[0144] The electromagnetic spacecraft position control module 904 is used to perform position control on each electromagnetic spacecraft based on the distributed control protocol when the state update error of the distributed control protocol does not meet the preset conditions.

[0145] It can be seen that the implementation Fig. 9The device shown can obtain the directed connected topological network of the electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft, and then construct a distributed control protocol based on the dynamic equations and the directed connected topological network, and when the state update error of the distributed control protocol meets the preset conditions, the position of each electromagnetic spacecraft is controlled based on the distributed control protocol. It can save communication resources while accurately controlling the electromagnetic spacecraft, and can solve the actuator saturation problem involved in the formation configuration maintenance process of the multi-electromagnetic spacecraft formation system. Compared with related technologies, the inherent characteristics of the electromagnetic spacecraft are taken into account, and there is no need to trigger communication at every moment, but only when the state update error of the distributed control protocol meets the preset conditions.

[0146] In an exemplary embodiment of the present application, the electromagnetic manipulation dynamics model building module 901 obtains the dynamics equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system, including:

[0147] Determine the center of mass of the electromagnetic spacecraft formation system, and use the center of mass as the origin to construct a body coordinate system; wherein the electromagnetic spacecraft formation system includes a main electromagnetic spacecraft and a follower electromagnetic spacecraft;

[0148] Determine the first dynamic equation corresponding to the main electromagnetic spacecraft which is not affected by the follower electromagnetic spacecraft based on the body coordinate system;

[0149] Determine the second dynamic equation corresponding to the follower electromagnetic spacecraft based on the body coordinate system;

[0150] The first dynamic equation and the second dynamic equation are linearly processed to obtain the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system.

[0151] It can be seen that by implementing this optional embodiment, a directed connected topological network of the electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft can be obtained, which is conducive to position control of each electromagnetic spacecraft, so as to save communication resources while accurately controlling the electromagnetic spacecraft.

[0152] In an exemplary embodiment of the present application, the directed connected network communication topology building module 902 obtains a directed connected topology network of the electromagnetic spacecraft formation system, including:

[0153] Characterize each electromagnetic spacecraft as a mirror node;

[0154] In response to the communication between the main electromagnetic spacecraft and any follower electromagnetic spacecraft, a directed connected topological relationship is generated based on the mirror node until a directed connected topological network consisting of a plurality of directed connected topological relationships is obtained.

[0155] It can be seen that by implementing this optional embodiment, a directed connected topological relationship based on mirror nodes can be proposed. The directed connected topological relationship reflects the communication framework of the electromagnetic spacecraft. A mirror node represents an electromagnetic spacecraft in the system. If the consistency condition is achieved for each role, consistent control of all electromagnetic spacecraft can be achieved.

[0156] In an exemplary embodiment of the present application, the consistency control protocol construction module 903 constructs a distributed control protocol based on a dynamic equation and a directed connected topology network, including:

[0157] A distributed control protocol is constructed based on dynamic equations, directed connected topology networks, low-gain feedback control methods for actuator saturation, and event-triggered control methods.

[0158] It can be seen that implementing this optional embodiment and performing position control on each electromagnetic spacecraft based on a distributed control protocol can save communication resources while accurately controlling the electromagnetic spacecraft, and can solve the actuator saturation problem involved in the formation configuration maintenance process of a multi-electromagnetic spacecraft formation system.

[0159] In an exemplary embodiment of the present application, the consistency control protocol construction module 903 constructs a distributed control protocol based on a dynamic equation, a directed connected topology network, a low-gain feedback control method for actuator saturation, and an event-triggered control method, including:

[0160] Based on the dynamic equations and the directed connected topology network, the state update error of the distributed control protocol after the event is triggered is determined;

[0161] A distributed control protocol is determined based on a low-gain feedback control method and an event-triggered control method with actuator saturation.

[0162] It can be seen that the implementation of this optional embodiment can be based on a low-gain feedback design method rather than a characteristic structure allocation algorithm or a parameter ARE method, which relaxes the assumption that the system is asymptotically zero controllable under bounded control. In addition, combined with an adaptive event-triggered protocol method, the control protocol only relies on sampled local information of each electromagnetic spacecraft and its neighbors, and does not require continuous communication in control law updates or trigger condition monitoring, which can reduce communication energy consumption and avoid the phenomenon of events being triggered infinitely.

[0163] In an exemplary embodiment of the present application, it further includes:

[0164] An event trigger function determination module, used to generate an event trigger function corresponding to a distributed control protocol;

[0165] The condition determination module is used to substitute the state update error of the distributed control protocol into the event trigger function, calculate the reference data, and if the reference data meets the preset conditions, determine that the state update error of the distributed control protocol meets the preset conditions.

[0166] It can be seen that, when implementing this optional embodiment, there is no need to trigger communication at every moment, and communication only needs to be triggered when the state update error of the distributed control protocol meets the preset conditions.

[0167] In an exemplary embodiment of the present application, the electromagnetic spacecraft position control module 904 performs position control on each electromagnetic spacecraft based on a distributed control protocol, including:

[0168] Trigger the execution of distributed control protocol based on event-triggered functions;

[0169] Based on the execution result of the distributed control protocol, the position of each electromagnetic spacecraft is controlled until the state update error is zero.

[0170] It can be seen that, when implementing this optional embodiment, there is no need to trigger communication at every moment, and communication only needs to be triggered when the state update error of the distributed control protocol meets the preset conditions.

[0171] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0172] Since the various functional modules of the electromagnetic spacecraft control device of the example embodiment of the present application correspond to the steps of the example embodiment of the electromagnetic spacecraft control method described above, for details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the electromagnetic spacecraft control method described above in the present application.

[0173] See also Fig.10 , Fig.10 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0174] It should be noted that Fig.10 The computer system 1000 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0175] like Fig.10As shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage part 1008 into a random access memory (RAM) 1003. Various programs and data required for system operation are also stored in the RAM 1003. The CPU 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0176] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0177] In particular, according to an embodiment of the present application, the process described with reference to the flowchart above can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 1009, and / or installed from a removable medium 1011. When the computer program is executed by the central processing unit (CPU) 1001, various functions defined in the method and apparatus of the present application are executed.

[0178] The exemplary embodiments of the present disclosure also provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the electromagnetic spacecraft control method is implemented.

[0179] In one embodiment, the computer program product may be a tangible product containing a computer program, such as a computer-readable storage medium storing a computer program. The readable storage medium may be a storage medium based on electrical, magnetic, optical, electromagnetic, infrared, or other signals, including but not limited to: random access memory (RAM), read-only memory (ROM), magnetic tape, floppy disk, flash memory (Flash), mechanical hard disk (HDD), solid-state drive (SSD), and the like. Exemplarily, the computer program product may be implemented as a non-volatile storage medium storing a computer program, such as a read-only memory, a NAND flash memory, and the like.

[0180] In one embodiment, the computer program product may be an intangible product including a computer program. Exemplarily, the computer program product may be implemented as a virtual digital product, such as a digital file storing an executable file, an installation package, etc. of the computer program.

[0181] The code of the computer program can be written in one or more programming languages. Programming languages ​​such as C language, Java, C++, etc. The program code can be executed entirely on the user computing device, or partially on the user computing device, or as a separate software package, or partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, such as a local area network (LAN), a wide area network (WAN), etc., or can be connected to an external computing device (e.g., an Internet connection provided by an operator).

[0182] Computer programs can be carried or transmitted through electrical, magnetic, optical, electromagnetic, infrared and other signals. Electronic devices can convert signals carrying computer programs into digital signals, thereby running computer programs. When a computer program runs on an electronic device, its code is used to enable the electronic device to execute (more specifically, it can enable the processor of the electronic device to execute) the method steps of various exemplary embodiments of the present disclosure, such as the above-mentioned electromagnetic spacecraft control method, which includes the following steps: obtaining the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system; obtaining the directed connected topological network of the electromagnetic spacecraft formation system; constructing a distributed control protocol based on the dynamic equations and the directed connected topological network; when the state update error of the distributed control protocol meets the preset conditions, each electromagnetic spacecraft is positionally controlled based on the distributed control protocol.

[0183] By executing the above method steps through a computer program, it is possible to save communication resources while accurately controlling electromagnetic spacecraft, and to solve the actuator saturation problem involved in the formation configuration maintenance process of a multi-electromagnetic spacecraft formation system. Compared with related technologies, the inherent characteristics of the electromagnetic spacecraft are taken into account, and there is no need to trigger communication at every moment. It only needs to trigger communication when the state update error of the distributed control protocol meets the preset conditions.

[0184] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0185] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0186] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary technical means in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the claims.

Claims

1. A method for controlling an electromagnetic spacecraft, characterized in that: include: Obtain the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system; Obtaining a directed connected topological network of the electromagnetic spacecraft formation system; Based on the dynamic equation and the directed connected topological network, construct a distributed control protocol; When the state update error of the distributed control protocol meets the preset conditions, the position of each electromagnetic spacecraft is controlled based on the distributed control protocol.

2. The method according to claim 1, characterized in that: Obtaining the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system, including: Determine the center of mass of the electromagnetic spacecraft formation system, and construct a body coordinate system using the center of mass as the origin; wherein the electromagnetic spacecraft formation system includes a main electromagnetic spacecraft and a follower electromagnetic spacecraft; Determine, based on the body coordinate system, a first dynamic equation corresponding to the main electromagnetic spacecraft that is not affected by the follower electromagnetic spacecraft; Determine a second dynamic equation corresponding to the follower electromagnetic spacecraft based on the body coordinate system; The first dynamic equation and the second dynamic equation are linearly processed to obtain the dynamic equation of each electromagnetic spacecraft in the electromagnetic spacecraft formation system.

3. The method according to claim 2, characterized in that Obtaining a directed connected topological network of the electromagnetic spacecraft formation system, including: Characterizing each electromagnetic spacecraft as a mirror node; In response to the communication between the master electromagnetic spacecraft and any of the follower electromagnetic spacecraft, a directed connectivity topological relationship is generated based on the mirror node until a directed connectivity topological network consisting of a plurality of directed connectivity topological relationships is obtained.

4. The method according to claim 1, characterized in that Based on the dynamic equation and the directed connected topological network, a distributed control protocol is constructed, including: A distributed control protocol is constructed based on the dynamic equation, the directed connected topology network, the actuator saturated low-gain feedback control method and the event-triggered control method.

5. The method according to claim 4, characterized in that Based on the dynamic equation, the directed connected topological network, the low-gain feedback control method of actuator saturation and the event-triggered control method, a distributed control protocol is constructed, including: Based on the dynamic equation and the directed connected topology network, determining a state update error of a distributed control protocol after an event is triggered; A distributed control protocol is determined based on a low-gain feedback control method and an event-triggered control method with actuator saturation.

6. The method according to claim 5, characterized in that Also includes: Generating an event trigger function corresponding to the distributed control protocol; The state update error of the distributed control protocol is substituted into the event trigger function to calculate reference data. If the reference data meets the preset condition, it is determined that the state update error of the distributed control protocol meets the preset condition.

7. The method according to claim 5, characterized in that The position control of each electromagnetic spacecraft is performed based on the distributed control protocol, including: Triggering execution of the distributed control protocol based on the event triggering function; The positions of the electromagnetic spacecraft are controlled based on the execution results of the distributed control protocol until the state update error is zero.

8. An electromagnetic spacecraft control device, characterized in that: include: The electromagnetic manipulation dynamics model building module is used to obtain the dynamics equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system; A directed connected network communication topology building module is used to obtain a directed connected topology network of the electromagnetic spacecraft formation system; A consistency control protocol building module, used to build a distributed control protocol based on the dynamic equation and the directed connected topology network; The electromagnetic spacecraft position control module is used to perform position control on each electromagnetic spacecraft based on the distributed control protocol when the state update error of the distributed control protocol does not meet the preset conditions.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to perform the method of any one of claims 1 to 7 by executing the executable instructions.

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