Electromagnetic spacecraft control methods, devices, products and electronic equipment

Abstract

This application provides an electromagnetic spacecraft control method, device, product, and electronic device, relating to the field of spacecraft control technology. This method can obtain the directed connected topology network of an electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft. Based on the dynamic equations and the directed connected topology network, a distributed control protocol is constructed. When the state update error of the distributed control protocol meets preset conditions, position control is performed on each electromagnetic spacecraft based on the distributed control protocol. This method can save communication resources while precisely controlling the electromagnetic spacecraft and can solve the actuator saturation problem involved in maintaining the formation configuration of a multi-electromagnetic spacecraft formation system. Compared with related technologies, this method considers the inherent characteristics of electromagnetic spacecraft, eliminating the need to trigger communication at every moment; communication only needs to be triggered when the state update error of the distributed control protocol meets preset conditions.

Description

Technical Field

[0001] This application relates to the field of spacecraft control technology, and more specifically, to an electromagnetic spacecraft control method, an electromagnetic spacecraft control device, a computer program product, and electronic equipment. Background Technology

[0002] Electromagnetic spacecraft formation systems comprise multiple electromagnetic spacecraft that can jointly manage on-orbit missions. The management objectives for electromagnetic spacecraft formation systems are: high-precision altitude control and minimizing fuel consumption. Electromagnetic spacecraft include onboard controllable electromagnetic devices, enabling them to meet the requirements for long-term space missions. However, the physical actuator capabilities of electromagnetic spacecraft are limited by superconducting coil technology; therefore, actuator saturation research is one of the important nonlinear problems in engineering systems.

[0003] To address this issue, related technologies employ 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, while the parametric Lyapunov approach tends to lead to complex parameter configurations in the controller.

[0004] In the control of electromagnetic spacecraft, it is typically necessary to ensure the communication needs of each electromagnetic spacecraft. Different actuator saturation levels will lead to different resource allocation requirements among multiple agents in the communication network. Furthermore, the bandwidth of the communication network and the payload of the spacecraft are limited. Related technologies usually require continuous-time algorithms to communicate at every moment and discrete-time algorithms to communicate at each agent state iteration. Using these technologies to implement electromagnetic spacecraft control results in significant communication resource consumption.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this application is to provide an electromagnetic spacecraft control method, an electromagnetic spacecraft control device, a computer-readable storage medium, and an electronic device. This method can acquire the directed connected topology network of an electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft. Based on the dynamic equations and the directed connected topology network, a distributed control protocol is constructed. When the state update error of the distributed control protocol meets preset conditions, position control is performed on each electromagnetic spacecraft based on the distributed control protocol. This method can save communication resources while precisely controlling the electromagnetic spacecraft and can solve the actuator saturation problem involved in maintaining the formation configuration of multiple electromagnetic spacecraft formation systems. Compared with related technologies, this method considers the inherent characteristics of electromagnetic spacecraft and does not require communication to be triggered at every moment; communication only needs to be triggered when the state update error of the distributed control protocol meets preset conditions.

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

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

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

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

[0011] A distributed control protocol is constructed based on dynamic equations and directed connected topological networks.

[0012] 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.

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

[0014] Determine the center of mass of the electromagnetic spacecraft formation system and construct the body coordinate system using the center of mass as the origin; the electromagnetic spacecraft formation system includes the main electromagnetic spacecraft and the follower electromagnetic spacecraft.

[0015] The first dynamic equation of the main electromagnetic spacecraft, which is not affected by the following electromagnetic spacecraft, is determined based on the body coordinate system.

[0016] The second dynamic equation corresponding to the following electromagnetic spacecraft is determined based on the body coordinate system;

[0017] By linearizing the first and second dynamic equations, the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system are obtained.

[0018] In one exemplary embodiment of this application, obtaining the directed connected topology network of an electromagnetic spacecraft formation system includes:

[0019] Each electromagnetic spacecraft is represented as a mirror node;

[0020] In response to communication between the main electromagnetic spacecraft and any following electromagnetic spacecraft, a directed connected topology is generated based on the mirror node until a directed connected topology network consisting of multiple directed connected topologies is obtained.

[0021] In one exemplary embodiment of this application, a distributed control protocol is constructed based on dynamic equations 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 with actuator saturation, and event-triggered control methods.

[0023] In one exemplary embodiment of this application, a distributed control protocol is constructed based on dynamic equations, directed connected topology networks, 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 determined;

[0025] Based on the low-gain feedback control method with actuator saturation and the event-triggered control method, a distributed control protocol is determined.

[0026] In one exemplary embodiment of this application, it further includes:

[0027] Generate event trigger functions corresponding to the distributed control protocol;

[0028] The state update error of the distributed control protocol is substituted into the event triggering function to calculate the reference data. 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 one exemplary embodiment of this application, position control of each electromagnetic spacecraft is performed based on a distributed control protocol, including:

[0030] The distributed control protocol is executed based on event-triggered functions.

[0031] Position control of each electromagnetic spacecraft is performed based on the execution results of the distributed control protocol until the state update error is zero.

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

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

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

[0035] A consensus control protocol construction module 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 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.

[0037] In one exemplary embodiment of this application, the electromagnetic manipulation dynamics model construction module obtains the dynamic 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 construct the body coordinate system using the center of mass as the origin; the electromagnetic spacecraft formation system includes the main electromagnetic spacecraft and the follower electromagnetic spacecraft.

[0039] The first dynamic equation of the main electromagnetic spacecraft, which is not affected by the following electromagnetic spacecraft, is determined based on the body coordinate system.

[0040] The second dynamic equation corresponding to the following electromagnetic spacecraft is determined based on the body coordinate system;

[0041] By linearizing the first and second dynamic equations, the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system are obtained.

[0042] In one exemplary embodiment of this application, the directed connected network communication topology construction module acquires the directed connected topology network of the electromagnetic spacecraft formation system, including:

[0043] Each electromagnetic spacecraft is represented as a mirror node;

[0044] In response to communication between the main electromagnetic spacecraft and any following electromagnetic spacecraft, a directed connected topology is generated based on the mirror node until a directed connected topology network consisting of multiple directed connected topologies is obtained.

[0045] In one exemplary embodiment of this application, the consensus control protocol construction module constructs a distributed control protocol based on dynamic equations 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 with actuator saturation, and event-triggered control methods.

[0047] In one exemplary embodiment of this application, the consensus control protocol construction module constructs a distributed control protocol based on dynamic equations, directed connected topology networks, low-gain feedback control methods for actuator saturation, and event-triggered control methods, 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 determined;

[0049] Based on the low-gain feedback control method with actuator saturation and the event-triggered control method, a distributed control protocol is determined.

[0050] In one exemplary embodiment of this application, it further includes:

[0051] The event trigger function determination module is used to generate event trigger functions corresponding to the distributed control protocol;

[0052] The condition determination module is used to substitute the state update error of the distributed control protocol into the event triggering function to calculate the reference data. 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.

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

[0054] The distributed control protocol is executed based on event-triggered functions.

[0055] Position control of each electromagnetic spacecraft is performed based on the execution results of the distributed control protocol until the state update error is zero.

[0056] According to one aspect of this application, a computer program product is provided, including a computer program and a method for implementing any of the above when the computer program is executed by a processor.

[0057] According to one aspect of this 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 the method of any one of the above via executing the executable instructions.

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

[0059] In an example embodiment of this application, an electromagnetic spacecraft control method is provided, which obtains the directed connected topology network of the electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft. Based on the dynamic equations and the directed connected topology network, a distributed control protocol is constructed. When the state update error of the distributed control protocol meets the preset conditions, the position control of each electromagnetic spacecraft is performed based on the distributed control protocol. This method can save communication resources while accurately controlling the electromagnetic spacecraft and can solve the actuator saturation problem involved in the formation configuration maintenance of multi-electromagnetic spacecraft formation systems. Compared with related technologies, this method takes into account the inherent characteristics of electromagnetic spacecraft and does not require communication to be triggered at every moment. Communication only needs to be triggered when the state update error of the distributed control protocol meets the preset conditions.

[0060] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0061] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0062] Figure 1 A flowchart illustrating an embodiment of an electromagnetic spacecraft control method according to this application is shown schematically.

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

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

[0065] Figure 4 A schematic diagram of a directed connected topology network according to an embodiment of this application is shown.

[0066] Figure 5 This illustration schematically shows a weighted diagram of the adaptive coupling result of a controller according to an embodiment of this application;

[0067] Figure 6 A schematic diagram illustrating a consistency error according to an embodiment of this application is shown.

[0068] Figure 7 This illustration schematically shows a diagram illustrating the event triggering time according to an embodiment of this application;

[0069] Figure 8 A schematic diagram illustrating control inputs according to an embodiment of this application is shown.

[0070] Figure 9 A schematic block diagram of an electromagnetic spacecraft control device according to one embodiment of this application is shown.

[0071] Figure 10 The schematic diagram illustrates the structure of a computer system suitable for implementing the electronic devices of the present application. Detailed Implementation

[0072] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of the embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced with one or more of the specific details omitted, or other methods, components, apparatus, steps, etc., can be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of this application.

[0073] Furthermore, the accompanying drawings are merely illustrative of this application and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0074] Please see Figure 1 , Figure 1 A flowchart illustrating an embodiment of an electromagnetic spacecraft control method according to this application is shown schematically. Figure 1 As shown, the electromagnetic spacecraft control method may include steps S110 to S140.

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

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

[0077] Step S130: Construct a distributed control protocol based on the dynamic equations 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 topology network of the electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft. Based on the dynamic equations and the directed connected topology network, a distributed control protocol is constructed. When the state update error of the distributed control protocol meets the preset conditions, the position control of each electromagnetic spacecraft is performed based on the distributed control protocol. This method can save communication resources while accurately controlling the electromagnetic spacecraft and can solve the actuator saturation problem involved in maintaining the formation configuration of multiple electromagnetic spacecraft formation systems. Compared with related technologies, this method takes into account the inherent characteristics of electromagnetic spacecraft and does not require communication to be triggered at every moment. Communication only needs to be triggered when the state update error of the distributed control protocol meets the preset conditions.

[0080] The steps described above in this example implementation will now be explained in more detail.

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

[0082] Specifically, the electromagnetic spacecraft formation system comprises multiple electromagnetic spacecraft, which are spacecraft equipped with onboard controllable electromagnetic devices to perform various on-orbit missions. The dynamic equations of each electromagnetic spacecraft are specifically the translational motion dynamic equations of the corresponding electromagnetic spacecraft.

[0083] As an optional embodiment of step S110, the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system are obtained, including:

[0084] Step S1101: Determine the center of mass of the electromagnetic spacecraft formation system and construct the body coordinate system with the center of mass as the origin; wherein, the electromagnetic spacecraft formation system includes the main electromagnetic spacecraft and the follower electromagnetic spacecraft.

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

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

[0087] Step S1104: Perform linear processing on the first and second dynamic equations to obtain the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system.

[0088] As can be seen, by implementing this optional embodiment, the directed connected topology 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 experienced by an electromagnetic spacecraft can be calculated. Wherein, the free space permeability constant μ0 = 4π × 10 7 H / m, μ i and μ j The electromagnetic moments of electromagnetic spacecraft i and j in the electromagnetic spacecraft formation system are given by r. ij =||r ij ||2, for r ij Find the 2-norm to get r ij .

[0090] Furthermore, it is possible to acquire all electromagnetic spacecraft in the electromagnetic spacecraft formation system, and construct the body coordinate system O 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 x and y axes are obtained along the distance between the centroid CM and the Earth's center, and the body coordinate system O is used. b X bi Y bi Z bi The z-axis is obtained using the right-hand rectangular coordinate system rule.

[0091] Assuming the reference spacecraft is located at the center of mass of the formation and provides a reference trajectory for the other spacecraft, the orbital dynamics model is as follows:

[0092]

[0093] Among them, the gravitational constant u i It is expressed as the electromagnetic force acceleration acting on electromagnetic spacecraft i. m i This represents the mass of the i-th electromagnetic spacecraft. This represents the perturbation force experienced by 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 expression for relative translational motion in the equation 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 respectively e C a C n C Based on this, we can obtain the following expression: The second dynamic equation corresponding to the electromagnetic spacecraft

[0094] in, Let ρ represent the orbital angular velocity of the reference spacecraft, and let ρ be the relative position of spacecraft i to the reference spacecraft. i(t) =[x i(t) ,y i(t) ,z i(t） ] T 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, which is unaffected by the following electromagnetic spacecraft, can be determined:

[0096] Furthermore, the first and second dynamic equations are then analyzed based on 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 a saturation function.

[0097] The consistency control objective for the master electromagnetic spacecraft and follower electromagnetic spacecraft in an electromagnetic spacecraft formation system can be expressed as:

[0098] For a coordinate diagram of an electromagnetic spacecraft formation system, please refer to [reference needed]. Figure 2 ,like Figure 2 As shown, O E X I Y I ZI Using the Earth's center-of-mass coordinate system, it can be represented as O E For Earth, X I Y I Z I These represent the x-axis, y-axis, and z-axis of the Earth's center-of-mass coordinate system. b X bi Y bi Z bi This is the body coordinate system of the electromagnetic spacecraft. b For the center of mass of the electromagnetic spacecraft, X bi Y bi Z bi These represent the x-axis, y-axis, and z-axis of the body coordinate system, respectively, where the electromagnetic spacecraft is numbered i = 1, ..., N. For example, the body coordinate system of electromagnetic spacecraft 1 is O. b X b1 Y b1 Z b1 The electromagnetic spacecraft formation system's center-of-mass coordinate system is O. CM X CM Y CM Z CM , can be represented as O CM As the center of the electromagnetic spacecraft formation system, X CM Y CM Z CM These represent the x-axis, y-axis, and z-axis of the centroid coordinate system for the electromagnetic spacecraft formation system. Additionally, i represents the orbital inclination, ω represents the pericentric argument, Ω represents the latitude and longitude of the ascending node, and υ represents the true anomaly angle.

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

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

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

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

[0103] Secondly, the leader spacecraft evolves independently of followers and mirror nodes, while intermediate-layer spacecraft are influenced by the leader, some followers, and mirror nodes, with more than two nodes. Spacecraft play different roles in the system's evolution. Mirror nodes can represent battery-powered spacecraft, and the mirror node network is defined as follows: in, and These are the mirror set and mirror weight adjacency matrix of the time-varying edge, respectively. Simultaneously, the Laplacian matrix... satisfy as well as Defined if and only if there is communication between the leader and the i-th follower. a ij It represents the i*j-th element in the adjacency weight adjacency matrix.

[0104] Thirdly, the communication of follow-layer nodes is only affected by their neighboring nodes.

[0105] Fourthly, status information from the leadership layer to the follower layer is transmitted by the intermediate layer spacecraft; for details, please refer to [link to relevant documentation]. Figure 3 Figure (b).

[0106] As an optional embodiment of step S120, obtaining the directed connected topology 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 communication between the main electromagnetic spacecraft and any following electromagnetic spacecraft, generate a directed connected topology based on the mirror node until a directed connected topology network composed of multiple directed connected topologies is obtained.

[0109] As can be seen, implementing this optional embodiment can propose a directed connected topology based on mirror nodes. The directed connected topology embodies the communication framework of electromagnetic spacecraft. A mirror node represents an electromagnetic spacecraft in the system. If consistency conditions are met for each role, consistent control for all electromagnetic spacecraft can be achieved.

[0110] Specifically, by representing each electromagnetic spacecraft as a mirror node, a schematic diagram of the mirror node can be obtained, which can be found in the following document. Figure 3 .exist Figure 3 The diagram shows Figures (a) and (b), 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 dynamic equations and a directed connected topology network, including:

[0113] Step S1301: Construct a distributed control protocol based on dynamic equations, directed connected topology networks, low-gain feedback control method with actuator saturation, and event-triggered control method.

[0114] As can be seen, implementing this optional embodiment, which uses a distributed control protocol to control the position of each electromagnetic spacecraft, can save communication resources while precisely controlling the electromagnetic spacecraft, and can also solve the actuator saturation problem involved in the formation configuration maintenance of multi-electromagnetic spacecraft formation systems.

[0115] Specifically, the low-gain feedback control method and event-triggered control method for actuator saturation are existing technologies and will not be elaborated here.

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

[0117] As an optional embodiment of step S1301, 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, including:

[0118] Step S13011: Based on the dynamic equations and the directed connected topology network, determine the state update error of the distributed control protocol after the event is triggered;

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

[0120] As can be seen, implementing this optional embodiment can be based on a low-gain feedback design method, rather than a feature structure allocation algorithm or the parameter ARE method, thus relaxing the assumption that the system is asymptotically zero controllable under bounded control. Furthermore, by combining it with an adaptive event triggering protocol method, the control protocol relies only on the sampled local information of each electromagnetic spacecraft and its neighbors. Continuous communication is not required for control law updates or trigger condition monitoring, reducing communication energy consumption and preventing events from being triggered an infinite number of times.

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

[0122] Among them, the distributed control protocol can be constructed based on dynamic equations, directed connected topology networks, low-gain feedback control methods with actuator saturation, and event-triggered control methods, including: solveable matrix inequalities 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 event trigger functions corresponding to the distributed control protocol;

[0125] The state update error of the distributed control protocol is substituted into the event triggering function to calculate the reference data. 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] As can be seen, implementing this optional embodiment does not require triggering communication at every moment; it only requires triggering communication when the state update error of the distributed control protocol meets preset conditions.

[0127] Specifically, the event triggering function can be represented as: Substituting the state update error of the distributed control protocol into the event triggering function allows for the calculation of reference data. If the reference data meets the preset conditions, then the state update error of the distributed control protocol is determined to meet the preset conditions. The preset conditions can be limited to numerical values ​​or expressions.

[0128] In 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.

[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: Trigger the execution of the distributed control protocol based on the event-triggered function;

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

[0132] As can be seen, implementing this optional embodiment does not require triggering communication at every moment; it only requires triggering communication when the state update error of the distributed control protocol meets preset conditions.

[0133] Specifically, the event trigger time can be... Defined as When the state update error of the distributed control protocol meets the preset conditions, i.e., at the moment 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, the measurement error e i (t) Reset to zero. When each electromagnetic spacecraft receives new status information from its neighbor, it can update the position of its controller, thereby enabling position control of each electromagnetic spacecraft.

[0134] Under the event-triggered control method, consistency error and coupling gain c ij Under the influence of a consensus control protocol, it is asymptotically stable and eventually bounded. The validity of this conclusion can be proven as follows:

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

[0136] Differentiating the Lyapunov function yields:

[0137] Furthermore, by applying the relationships between variables and Young's inequality, we can derive: in, Substituting the event trigger function into this inequality yields...

[0138] Further derivation yields in, When lim t→∞ Δ7t,δ1,v (0,k) When 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 obtain results such as Figure 5 The controller shown has an adaptive coupling weight that converges to a constant value, thus achieving bounded stability. Figure 6 The diagram shows that the displacement error reaches consistency under the proposed event-triggered distributed control protocol, which improves the control effect and robustness. Figure 7 This is used to explain that updates to the control protocol are not continuous, which can save communication resources. In one embodiment, [the following is an example of this:] ... Figure 7 Setting the input saturation limit for intermediate spacecraft 1 and 3 to 0.5 yields the following results: Figure 8 The control input diagrams for spacecraft 1 and 2 are shown.

[0140] Please see Figure 9 , Figure 9 A schematic block diagram of an electromagnetic spacecraft control device according to one embodiment of this application is shown. The electromagnetic spacecraft control device 900 and... Figure 1 The methods shown correspond to, for example Figure 9 As shown, the electromagnetic spacecraft control device 900 includes:

[0141] Electromagnetic control dynamics model construction module 901 is used to obtain the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system;

[0142] Directed connected network communication topology construction module 902 is used to obtain the directed connected topology network of the electromagnetic spacecraft formation system;

[0143] Consistency control protocol construction module 903 is used to construct a distributed control protocol based on dynamic equations and directed connected topology networks;

[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 is evident that implementation Figure 9The device shown can acquire the directed connected topology network of an electromagnetic spacecraft formation system and the dynamic equations of each electromagnetic spacecraft. Based on the dynamic equations and the directed connected topology network, a distributed control protocol is constructed. When the state update error of the distributed control protocol meets preset conditions, the device performs position control on each electromagnetic spacecraft based on the distributed control protocol. This can save communication resources while precisely controlling the electromagnetic spacecraft and can solve the actuator saturation problem involved in maintaining the formation configuration of a multi-electromagnetic spacecraft formation system. Compared with related technologies, this device takes into account the inherent characteristics of electromagnetic spacecraft and does not need to trigger communication at every moment. Communication only needs to be triggered when the state update error of the distributed control protocol meets preset conditions.

[0146] In one exemplary embodiment of this application, the electromagnetic manipulation dynamics model construction module 901 obtains the dynamic 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 construct the body coordinate system using the center of mass as the origin; the electromagnetic spacecraft formation system includes the main electromagnetic spacecraft and the follower electromagnetic spacecraft.

[0148] The first dynamic equation of the main electromagnetic spacecraft, which is not affected by the following electromagnetic spacecraft, is determined based on the body coordinate system.

[0149] The second dynamic equation corresponding to the following electromagnetic spacecraft is determined based on the body coordinate system;

[0150] By linearizing the first and second dynamic equations, the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system are obtained.

[0151] As can be seen, by implementing this optional embodiment, the directed connected topology 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 one exemplary embodiment of this application, the directed connected network communication topology construction module 902 acquires the directed connected topology network of the electromagnetic spacecraft formation system, including:

[0153] Each electromagnetic spacecraft is represented as a mirror node;

[0154] In response to communication between the main electromagnetic spacecraft and any following electromagnetic spacecraft, a directed connected topology is generated based on the mirror node until a directed connected topology network consisting of multiple directed connected topologies is obtained.

[0155] As can be seen, implementing this optional embodiment can propose a directed connected topology based on mirror nodes. The directed connected topology embodies the communication framework of electromagnetic spacecraft. A mirror node represents an electromagnetic spacecraft in the system. If consistency conditions are met for each role, consistent control for all electromagnetic spacecraft can be achieved.

[0156] In one exemplary embodiment of this application, the consensus control protocol construction module 903 constructs a distributed control protocol based on dynamic equations 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 with actuator saturation, and event-triggered control methods.

[0158] As can be seen, implementing this optional embodiment, which uses a distributed control protocol to control the position of each electromagnetic spacecraft, can save communication resources while precisely controlling the electromagnetic spacecraft, and can also solve the actuator saturation problem involved in the formation configuration maintenance of multi-electromagnetic spacecraft formation systems.

[0159] In one exemplary embodiment of this application, the consensus control protocol construction module 903 constructs a distributed control protocol based on dynamic equations, directed connected topology networks, low-gain feedback control methods for actuator saturation, and event-triggered control methods, 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 determined;

[0161] Based on the low-gain feedback control method with actuator saturation and the event-triggered control method, a distributed control protocol is determined.

[0162] As can be seen, implementing this optional embodiment can be based on a low-gain feedback design method, rather than a feature structure allocation algorithm or the parameter ARE method, thus relaxing the assumption that the system is asymptotically zero controllable under bounded control. Furthermore, by combining it with an adaptive event triggering protocol method, the control protocol relies only on the sampled local information of each electromagnetic spacecraft and its neighbors. Continuous communication is not required for control law updates or trigger condition monitoring, reducing communication energy consumption and preventing events from being triggered an infinite number of times.

[0163] In one exemplary embodiment of this application, it further includes:

[0164] The event trigger function determination module is used to generate event trigger functions corresponding to the distributed control protocol;

[0165] The condition determination module is used to substitute the state update error of the distributed control protocol into the event triggering function to calculate the reference data. 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.

[0166] As can be seen, implementing this optional embodiment does not require triggering communication at every moment; it only requires triggering communication when the state update error of the distributed control protocol meets preset conditions.

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

[0168] The distributed control protocol is executed based on event-triggered functions.

[0169] Position control of each electromagnetic spacecraft is performed based on the execution results of the distributed control protocol until the state update error is zero.

[0170] As can be seen, implementing this optional embodiment does not require triggering communication at every moment; it only requires triggering communication when the state update error of the distributed control protocol meets preset conditions.

[0171] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

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

[0173] Please see Figure 10 , Figure 10 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown.

[0174] It should be noted that, Figure 10 The computer system 1000 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0175] like Figure 10As shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 1002 or programs loaded from storage section 1008 into random access memory (RAM) 1003. The RAM 1003 also stores various programs and data required for system operation. The CPU 1001, ROM 1002, and RAM 1003 are interconnected 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 I / O interface 1005: an input section 1006 including a keyboard, mouse, etc.; an output section 1007 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, 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, modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. Drive 1010 is also connected to I / O interface 1005 as needed. Removable media 1011, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1010 as needed so that computer programs read from them can be installed into storage section 1008 as needed.

[0177] Specifically, according to embodiments of this application, the processes described in the above-described flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1009, and / or installed from removable medium 1011. When the computer program is executed by central processing unit (CPU) 1001, it performs the various functions defined in the methods and apparatus of this application.

[0178] An exemplary embodiment of this disclosure also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the above-described electromagnetic spacecraft control method.

[0179] In one embodiment, the computer program product can be a tangible product containing a computer program, such as a computer-readable storage medium storing the computer program. The readable storage medium can 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, hard disk drive (HDD), solid-state drive (SSD), etc. For example, the computer program product can be implemented as a non-volatile storage medium storing the computer program, such as read-only memory, NAND flash memory, etc.

[0180] In one implementation, the computer program product can be an intangible product containing a computer program. For example, the computer program product can be implemented as a virtual digital product, such as an executable file, installation package, or other digital file storing the computer program.

[0181] Computer program code can be written in one or more programming languages. Examples of programming languages ​​include C, Java, and C++. Program code can execute entirely on the user's computing device, partially on the user's computing device, or as a standalone software package. It can also execute partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, such as a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via an internet connection provided by a mobile network operator).

[0182] Computer programs can be carried or transmitted via signals such as electricity, magnetism, light, electromagnetic waves, and infrared radiation. Electronic devices can convert the signals carrying computer programs into digital signals, thereby running the computer programs. When a computer program runs on an electronic device, its code is used to cause the electronic device to execute (more specifically, the processor of the electronic device to execute) the method steps of various exemplary embodiments of this disclosure. For example, the above-described electromagnetic spacecraft control method can be executed, which includes the following steps: obtaining the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system; obtaining the directed connected topology network of the electromagnetic spacecraft formation system; constructing a distributed control protocol based on the dynamic equations and the directed connected topology network; and performing position control on each electromagnetic spacecraft based on the distributed control protocol when the state update error of the distributed control protocol meets preset conditions.

[0183] By executing the above method steps through a computer program, communication resources can be saved while precisely controlling electromagnetic spacecraft. It can also solve the actuator saturation problem involved in the formation configuration maintenance of multi-electromagnetic spacecraft formation systems. Compared with related technologies, it takes into account the inherent characteristics of electromagnetic spacecraft and does not need to trigger communication at every moment. Communication only needs to be triggered when the state update error of the distributed control protocol meets the preset conditions.

[0184] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0185] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0186] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

Claims

1. An electromagnetic spacecraft control method, characterized in that, include: Obtain the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system; Obtain the directed connected topology network of the electromagnetic spacecraft formation system; Based on the aforementioned dynamic equations and the aforementioned directed connected topology network, a distributed control protocol is constructed. 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. The process of constructing a distributed control protocol based on the dynamic equations and the directed connected topology network includes: constructing a distributed control protocol based on the dynamic equations, the directed connected topology network, a low-gain feedback control method for actuator saturation, and an event-triggered control method; determining whether the state update error of the distributed control protocol meets preset conditions includes: generating an event-triggered function corresponding to the distributed control protocol; substituting the state update error of the distributed control protocol into the event-triggered function to calculate reference data; and determining that the state update error of the distributed control protocol meets the preset conditions if the reference data meets the preset conditions.

2. The method according to claim 1, characterized in that, Obtaining the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system includes: The centroid of the electromagnetic spacecraft formation system is determined, and a body coordinate system is constructed using the centroid as the origin; wherein, the electromagnetic spacecraft formation system includes a main electromagnetic spacecraft and follower electromagnetic spacecraft; Based on the body coordinate system, determine the first dynamic equation corresponding to the main electromagnetic spacecraft that is not affected by the following electromagnetic spacecraft; The second dynamic equation corresponding to the following electromagnetic spacecraft is determined based on the body coordinate system; By performing linear processing on the first and second dynamic equations, the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system are obtained.

3. The method according to claim 2, characterized in that, Obtaining the directed connected topology network of the electromagnetic spacecraft formation system includes: Each of the electromagnetic spacecraft is represented as a mirror node; In response to communication between the main electromagnetic spacecraft and any of the following electromagnetic spacecraft, a directed connected topology is generated based on the mirror node until a directed connected topology network consisting of multiple directed connected topologies is obtained.

4. The method according to claim 1, characterized in that, Based on the aforementioned dynamic equations, the directed connected topology network, the low-gain feedback control method for actuator saturation, and the event-triggered control method, a distributed control protocol is constructed, including: 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. Based on the low-gain feedback control method with actuator saturation and the event-triggered control method, a distributed control protocol is determined.

5. The method according to claim 1, characterized in that, Position control of each electromagnetic spacecraft based on the distributed control protocol includes: The distributed control protocol is executed based on the event triggering function. Position control is performed on each electromagnetic spacecraft based on the execution result of the distributed control protocol until the state update error is zero.

6. An electromagnetic spacecraft control device, characterized in that, include: The electromagnetic control dynamics model construction module is used to obtain the dynamic equations of each electromagnetic spacecraft in the electromagnetic spacecraft formation system; A directed connected network communication topology construction module is used to obtain the directed connected topology network of the electromagnetic spacecraft formation system; A consensus control protocol construction module is used to construct a distributed control protocol based on the dynamic equations and the directed connected topology network. An 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. The process of constructing a distributed control protocol based on the dynamic equations and the directed connected topology network includes: constructing a distributed control protocol based on the dynamic equations, the directed connected topology network, a low-gain feedback control method for actuator saturation, and an event-triggered control method; determining whether the state update error of the distributed control protocol meets preset conditions includes: generating an event-triggered function corresponding to the distributed control protocol; substituting the state update error of the distributed control protocol into the event-triggered function to calculate reference data; and determining that the state update error of the distributed control protocol meets the preset conditions if the reference data meets the preset conditions.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1-5.

8. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the method of any one of claims 1-5 by executing the executable instructions.

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