Preset performance control method for inspection mass release stage under torsion frame

Abstract

The invention provides a method for controlling preset performance in a test mass release stage under a torsion frame. The method comprises the steps of constructing a relative motion model of test mass relative to the center of a satellite cavity based on torsion; based on the relative motion model, designing a controller based on a preset performance function; and a controller based on preset performance is utilized to realize capture control in a test mass release stage. According to the method, the inspection quality attitude orbit integrated model is constructed based on the torque, the precision loss is effectively avoided, the dynamic characteristics of the system are accurately reflected, the control precision and performance are improved, and the limitation of the prior art is overcome; according to the method, the convergence time and the convergence precision are set, so that the condition that the position and the attitude of the inspection quality are converged to a set steady-state precision range after the preset time can be ensured, a tedious and complicated parameter adjustment process in the prior art is effectively avoided, and the efficiency and the stability of a control strategy are greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of inspection mass technology, and in particular to a method for controlling preset performance of an inspection mass during a release phase under a twistor framework. Background Art

[0002] In recent years, space gravitational wave detection missions, such as LISA, Taiji and Tianqin, have attracted increasing attention. These high-precision missions all contain two high-precision gravity reference sensors (GRS). Each GRS contains a cubic test mass surrounded by a capacitive shell. The test mass plays a vital role. It is a key component for detecting gravitational wave signals, and its highly stable free-flight state is essential for accurately measuring tiny gravitational fluctuations in space. Any tiny movement of the test mass may be regarded as a potential indication of a gravitational wave signal. Therefore, the accuracy and stability of its design are directly related to the sensitivity and accuracy of the entire detection mission.

[0003] During the satellite launch phase, the test mass will be firmly fixed in a safe position to prevent the severe vibration environment from causing damage to the test mass. When the satellite reaches the predetermined orbit and the conditions are ripe, the grip, positioning and release mechanism (GPRM) will accurately release the test mass, allowing it to start contactless free flight, providing an inertial reference for gravitational wave detection.

[0004] However, GPRM will inevitably introduce some minor errors during operation, which may affect the subsequent motion state of the test mass, and thus have a significant impact on the detection accuracy of gravitational waves and even the success of the entire mission. Therefore, during the release phase of the test mass, achieving precise control of its attitude and translation is one of the key technologies for the space gravitational wave detection mission, and plays a vital role in the effectiveness of the detection mission.

[0005] Most existing studies on the modeling of the test mass in capture control use vector algebra as the modeling method, which is difficult to fully reflect the coupling relationship between the test mass attitude and position. An effective modeling method that can simultaneously describe the position and attitude of a rigid body is the dual quaternion, but its disadvantage is that the representation method has redundant elements and needs to satisfy unit constraints, which may cause computational difficulties in some cases. In addition, the test mass must consider not only steady-state performance but also transient performance during the capture process. In the related research on the test mass release stage, sliding mode control, model predictive control, minimum time capture control methods, etc. are mostly used. However, in order to avoid collision between the test mass and the satellite cavity, the above control methods all require a tedious parameter adjustment process. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides a method for preset performance control of the inspection mass release stage under a torsion framework. The present invention can improve the robustness and reliability of the control system and achieve high-precision capture control of the inspection mass.

[0007] The technical solution of the present invention is: a method for controlling preset performance of inspection mass release stage under a twistor framework, comprising the following steps:

[0008] S1), constructing a relative motion model of the test mass relative to the center of the satellite cavity based on the twistor;

[0009] S2), based on the relative motion model, design a controller based on a preset performance function;

[0010] S3) using a controller based on preset performance to implement capture control during the inspection mass release phase.

[0011] Preferably, in step S1), the relative motion model established is a six-degree-of-freedom relative motion model.

[0012] Preferably, in step S1), the expression of the six-degree-of-freedom relative motion model is:

[0013]

[0014]

[0015] In the formula, To inspect the mass body coordinate system Relative to the cavity coordinate system The twist amount; Represents the body coordinate system Relative to the cavity coordinate system The velocity spinor of Represents twist The derivative of Velocity spinor The derivative of Expressed in the body coordinate system Dual gravity under ; is the dual inertia matrix; Respectively expressed in the body coordinate system Dual control force and dual disturbance force under ; Represents the unit dual quaternion; represents the inverse matrix of the dual inertia matrix; Represents the inspection mass body coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of Represents the satellite cavity coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of Velocity spinor The derivative of .

[0016] Preferably, in step S2), the preset performance function p i The expression of (t) is:

[0017]

[0018] In the formula, ρ i (t) represents the preset performance function at time t; ρ 0i , ∞i The preset performance function ρ i (t) is the initial and final value; T represents the time when the system reaches the steady-state accuracy; 0<γ<1 represents the parameter to be designed, which is used to adjust the convergence rate.

[0019] Preferably, in step S2), based on the relative motion model, a controller based on a preset performance function is designed; specifically, the following steps are included:

[0020] S21) Design the specified performance constraints of the tracking error, namely:

[0021]

[0022] In the formula, represents the twistor at time t The i-th element of ;

[0023] S22), set the normalized error e i , and through the conversion function Get the conversion error z 1i ;Right now:

[0024]

[0025]

[0026] In the formula, e i Represents twist The normalized error of the i-th element of ; To inspect the mass body coordinate system Relative to the cavity coordinate system The twist amount; Represents twist The i-th element of i represents the preset performance function; k z >0 indicates the parameter to be designed;

[0027] S23), for the conversion error z1i Derivation, get Right now:

[0028]

[0029] In the formula, Represents the conversion error z 1i The derivative of Represents twist The i-th element of the derivative of ; represents the derivative of a preset performance function; Represents twist The i-th element of ;

[0030] therefore, It is expressed as:

[0031]

[0032] in, The vector form of the conversion error derivative, R = diag(R 1 ,R 2 ,...,R 6 ); Represents twist The derivative of ψ=diag(ψ 1 ,ψ 2 ,...,ψ 6 ); Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The twist amount;

[0033] S24) Use the backstepping method to design the control input and consider the following Lyapunov function, namely:

[0034]

[0035] V 1 The derivative is:

[0036]

[0037] in,

[0038] Where V 1 represents the Lyapunov function; Represents the vector form of the conversion error; the symbol ° represents the circle product; represents the Lyapunov function V 1 The derivative of R = diag(R 1 ,R2 ,...,R 6 ); [P] represents a matrix; Indicates; ψ=diag(ψ 1 ,ψ 2 ,...,ψ 6 ); Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The twistor of ∨ Represents the dual quaternion right multiplication matrix;

[0039] S25), design virtual error Right now:

[0040]

[0041] In the formula, is the virtual control law to be designed;

[0042] S26), the virtual error Substituting into formula (1.6), we get:

[0043]

[0044] In the formula, express;

[0045] Among them, the virtual control law It is expressed as:

[0046]

[0047] In the formula, Indicates; k 1r >0, k 1d >0 is the parameter to be designed;

[0048] therefore, It is expressed as:

[0049]

[0050] S27), consider the following Lyapunov function, namely:

[0051]

[0052] And V 2 Taking the derivative, we get:

[0053]

[0054] Where V 2 represents the Lyapunov function; express The form after the real part and the dual part are exchanged; is the dual inertia matrix; Denotes the dual external disturbance estimation error The form after the real part and the dual part are exchanged; express The inverse matrix of represents the dual external disturbance estimation error; Virtual control law The derivative of represents the derivative of the dual external disturbance estimation error;

[0055] S28), design a preset performance controller; namely:

[0056]

[0057] in, represents the dual control force; represents the dual parameter to be designed; Represents the inspection mass body coordinate system Dual gravity under ; Represents the inspection mass body coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of ; T represents the transposition sign; represents the external dual perturbation estimate.

[0058] The beneficial effects of the present invention are:

[0059] 1. The present invention constructs an integrated model of inspection mass attitude and orbit based on torsion, which effectively avoids accuracy loss, accurately reflects the dynamic characteristics of the system, improves control accuracy and performance, and overcomes the limitations of the existing technology;

[0060] 2. By setting the convergence time and convergence accuracy, the present invention can ensure that the position and posture of the inspection mass converge to a predetermined steady-state accuracy range after a preset time, effectively avoiding the cumbersome and complicated parameter adjustment process in the prior art and greatly improving the efficiency and stability of the control strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a schematic diagram of the process of the present invention;

[0062] Figure 2 A schematic diagram of a reference coordinate system established for an embodiment of the present invention;

[0063] Figure 3 This is a curve diagram showing the dual part of the mass posture torsion test according to an embodiment of the present invention;

[0064] Figure 4 This is a graph showing the MRP variation of the inspection quality relative posture according to an embodiment of the present invention;

[0065] Figure 5 This is a relative position change curve diagram of the inspection quality of an embodiment of the present invention;

[0066] Figure 6 This is a graph showing the relative speed change of the inspection mass according to an embodiment of the present invention;

[0067] Figure 7 This is a graph showing the change in relative angular velocity of the inspection mass according to an embodiment of the present invention;

[0068] Figure 8 This is a graph showing the change in quality control force for testing the embodiment of the present invention;

[0069] Fig. 9 This is a curve diagram of the torque change for quality control in the embodiment of the present invention. DETAILED DESCRIPTION

[0070] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings:

[0071] Example 1

[0072] like Figure 1 As shown, this embodiment provides a method for controlling preset performance of a test mass release stage under a twistor framework, comprising the following steps:

[0073] S1) Establishing the geocentric inertial coordinate system, the satellite cavity coordinate system, and the test mass center of mass coordinate system;

[0074] Among them, Figure 2 As shown, the geocentric inertial coordinate system Coordinate origin O I is the center of the earth, O I X I The positive direction of the axis points to the vernal equinox along the intersection of the ecliptic plane and the equatorial plane. I Z I The axis points to the North Pole, O I Y I The axis and the other two axes form a right-handed coordinate system.

[0075] The satellite cavity coordinate system Coordinate origin O C is the center of the satellite cavity, O C X C Axis pointing laser link, O C Z C Axis perpendicular to the orbital plane O C X C Axis, O C Y CThe axis and the other two axes form a right-handed coordinate system.

[0076] The inspection mass body coordinate system Coordinate origin O B is the centroid of the inspection mass, which is fixed to the inspection mass. Under ideal conditions, the coordinate system of the inspection mass Satellite cavity coordinate system coincide.

[0077] S2), constructing a relative motion model of the test mass relative to the center of the satellite cavity based on the twistor;

[0078] The relative motion model established in this embodiment is a six-degree-of-freedom relative motion model, and its expression is:

[0079]

[0080]

[0081] In the formula, To inspect the mass body coordinate system Relative to the satellite cavity coordinate system The twist amount; Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The velocity spinor of Represents twist The derivative of Velocity spinor The derivative of Represented in the inspection mass body coordinate system Dual gravity under ; is the dual inertia matrix; Respectively represent the coordinate system of the inspection mass body Dual control force and dual disturbance force under ; Represents the unit dual quaternion; represents the inverse matrix of the dual inertia matrix; Represents the inspection mass body coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of Represents the satellite cavity coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of Velocity spinor The derivative of .

[0082] Among them, the inspection mass body coordinate system Relative to the satellite cavity coordinate system The twist It is expressed as:

[0083]

[0084]

[0085] in, is the inspection mass body coordinate system Relative to the coordinate system The modified Rodrigues parameter of ; ε represents the dual operator; Represents twist The dual part of Represents the inspection mass body coordinate system Relative to the coordinate system The position vector of .

[0086] Inspection mass body coordinate system Relative to the satellite cavity coordinate system Velocity Screw It is expressed as:

[0087]

[0088] in, and They are the inspection mass body coordinate systems Relative to the satellite cavity coordinate system position, velocity and angular velocity;

[0089] The dual gravity It is expressed as:

[0090]

[0091] in, To test the gravity acting on the mass, is the gravity gradient moment on the test mass; ε represents the dual operator;

[0092] The dual inertia matrix It is expressed as:

[0093]

[0094] Where m is the mass of the test mass, J is the inertia matrix of the test mass, and I 3 is a 3×3 identity matrix; ε represents the dual operator; represents the derivative with respect to ε.

[0095] S3), based on the relative motion model, designing a controller based on a preset performance function;

[0096] In this embodiment, the preset performance function ρi The expression of (t) is:

[0097]

[0098] In the formula, ρ i (t) represents the preset performance function at time t; ρ 0i , ∞i The preset performance function ρ i (t) is the initial and final value; T represents the preset time for the system to reach the steady-state accuracy; 0<γ<1 represents the parameter to be designed, which is used to adjust the convergence rate.

[0099] This embodiment designs a controller based on a preset performance function based on a relative motion model; specifically, the following steps are included:

[0100] S31), design the specified performance constraints of the tracking error, namely:

[0101]

[0102] In the formula, represents the twistor at time t The i-th element of ;

[0103] S32), set the normalized error e i , and through the conversion function Get the conversion error z 1i ;Right now:

[0104]

[0105]

[0106] In the formula, e i Represents twist The normalized error of the i-th element of ; To inspect the mass body coordinate system Relative to the satellite cavity coordinate system The twist amount; Represents twist The i-th element of i represents the preset performance function; k z >0 indicates the parameter to be designed;

[0107] S33), for the conversion error z 1i Derivation, get Right now:

[0108]

[0109] In the formula, Represents the conversion error z1i The derivative of Represents twist The i-th element of the derivative of ; Represents the preset performance function ρ i The derivative of Represents twist The i-th element of ;

[0110] therefore, It is expressed as:

[0111]

[0112] in, The vector form of the conversion error derivative, R = diag(R 1 ,R 2 ,...,R 6 ); Represents twist The derivative of ψ=diag(ψ 1 ,ψ 2 ,...,ψ 6 ); Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The twist amount;

[0113] S34) Use the backstepping method to design the control input and consider the following Lyapunov function, namely:

[0114]

[0115] V 1 The derivative is:

[0116]

[0117] in,

[0118] Where V 1 represents the Lyapunov function; Represents the vector form of the conversion error; the symbol ° represents the circle product; represents the Lyapunov function V 1 The derivative of R = diag(R 1 ,R 2 ,...,R 6 ); [P] represents a matrix; Indicates; ψ=diag(ψ 1 ,ψ 2 ,...,ψ6 ); Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The twistor of ; the symbol []∨ represents the dual quaternion right multiplication matrix;

[0119] Quaternion multiplication can be expressed as matrix multiplication. For example, p = [p0, p1, p2, p3] and q = [q0, q1, q2, q3] are quaternions respectively, then pq = [p]q = [q] ∨ p. Where [p] is the quaternion left multiplication matrix, [q] ∨ is the quaternion right multiplication matrix, expressed as

[0120]

[0121]

[0122] Similarly, the dual quaternion and The multiplication of can also be expressed as matrix multiplication, that is, in is the dual quaternion left multiplication matrix, is the dual quaternion right multiplication matrix, expressed as

[0123] p r , p d ,q r ,q d All are quaternions

[0124] S35), design virtual error Right now:

[0125]

[0126] In the formula, is the virtual control law to be designed;

[0127] S36), the virtual error Substituting into formula (1.6), we get:

[0128]

[0129] In the formula, Indicates V 1 The derivative of

[0130] Among them, the virtual control law It is expressed as:

[0131]

[0132] In the formula, represents the dual parameter to be designed; k 1r >0, k 1d >0 is the parameter to be designed;

[0133] therefore, It is expressed as:

[0134]

[0135] S37), consider the following Lyapunov function, namely:

[0136]

[0137] And V 2 Taking the derivative, we get:

[0138]

[0139] Where V 2 represents the Lyapunov function; express The form after the real part and the dual part are exchanged; is the dual inertia matrix; Denotes the dual external disturbance estimation error The form after the real part and the dual part are exchanged; express The inverse matrix of represents the dual external disturbance estimation error; Virtual control law The derivative of represents the derivative of the dual external disturbance estimation error;

[0140] S38), design a preset performance controller; namely:

[0141]

[0142] in, represents the dual control force; represents the dual parameter to be designed; Represents the inspection mass body coordinate system Dual gravity under ; Represents the inspection mass body coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of ; T represents the transposition sign; represents the external dual perturbation estimate.

[0143] In this embodiment, Γ is expressed as:

[0144]

[0145] in, represents the dual inertia matrix; Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The velocity spinor of Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The twist amount; Represents the unit dual quaternion; Represents the satellite cavity coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of Velocity spinor The derivative of .

[0146] In this embodiment, the external dual perturbation estimation The update law is:

[0147]

[0148]

[0149] in, The dual matrix representing the update law of the external dual perturbation estimate; is the matrix to be designed; represents the defined auxiliary variable; ε represents the dual operator; represents the derivative with respect to ε.

[0150] In this embodiment, formula (1.12) can be expressed as:

[0151]

[0152] In the formula, represents the dual parameter to be designed; Represents the vector form of the conversion error; the symbol represents the circle product; represents the dual parameter to be designed; Indicates the defined auxiliary variables;

[0153] Therefore, the Lyapunov function V 2 is bounded.

[0154] S4), using a controller based on preset performance to achieve capture control during the inspection mass release phase.

[0155] This embodiment first sets the target state of the test mass release phase, including the initial values ​​of position, velocity, angular velocity and attitude, and at the same time sets a preset performance index to ensure that the capture control can meet the predetermined dynamic performance requirements within a limited time.

[0156] Next, the control input is calculated according to the designed control law and applied to the capacitor plates.

[0157] The control law is based on a twistor framework to ensure that the motion of the test mass does not produce excessive shock or oscillation during the release process. To ensure that the control input is feasible in actual operation, the control commands are saturated to avoid exceeding the maximum range of the capacitor plates. By continuously applying these control commands, the relative motion of the test mass gradually approaches the predetermined target position and always meets the preset dynamic performance requirements in the process.

[0158] When the test mass approaches the predetermined release position and stably reaches the center of the satellite cavity, the release process is completed and the capture control phase ends.

[0159] Example 2

[0160] The mass of the inspection mass provided in this embodiment is 2.45 kg, and the moment of inertia matrix is:

[0161]

[0162] Preset performance function parameter selection:

[0163] ρ 0 =[2.5,2.5,2.5,0.25,0.25,0.25]×10 -3

[0164] ρ ∞ =[0.625,0.625,0.625,2.5,2.5,2.5]×10 -5

[0165] γ=0.7

[0166] k z =10 -6 ;

[0167]

[0168]

[0169] The initial states of the test mass relative to the satellite cavity are:

[0170]

[0171]

[0172]

[0173]

[0174] The orbital parameters of the satellite are shown in Table 1. The system takes measurement noise into account and the measured value is Where n is a three-dimensional vector whose elements are all zero-mean Gaussian distributions with unit variance, k p =1.8×10 -9 ;k r =4×10 -9 ; The external disturbance force is [2.5,-2.5,2.5]×10 -8 N, the disturbance torque is [2.5, -2.5, 2.5] × 10 -10 N·m.

[0175] Table 1 Orbital parameters of satellites

[0176]

[0177] The simulation results are as follows: Figure 3-Figure 9 As shown, it can be seen that both the real part and the dual part of the test mass in the twistor framework can be within the pre-designed envelope range and converge within the pre-set time.

[0178] The above embodiments and descriptions are only for illustrating the principles and best embodiments of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, all of which fall within the scope of the present invention to be protected.

Claims

1. A method for controlling preset performance of inspection mass release stage under a twistor framework, characterized in that: The steps include: S1), constructing a relative motion model of the test mass relative to the center of the satellite cavity based on the twistor; S2), based on the relative motion model, design a controller based on a preset performance function; S3) using a controller based on preset performance to implement capture control during the inspection mass release phase.

2. According to claim 1, a method for controlling preset performance of inspection mass release stage in a twistor framework is characterized by: In step S1), the relative motion model established is a six-degree-of-freedom relative motion model, and its expression is: In the formula, To inspect the mass body coordinate system Relative to the satellite cavity coordinate system The twist amount; Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The velocity spinor of Represents twist The derivative of Velocity spinor The derivative of Represented in the inspection mass body coordinate system Dual gravity under ; is the dual inertia matrix; Respectively expressed in the inspection mass body coordinate system Dual control force and dual disturbance force under ; Represents the unit dual quaternion; represents the inverse matrix of the dual inertia matrix; Represents the inspection mass body coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of Represents the satellite cavity coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of Velocity spinor The derivative of .

3. The method for controlling preset performance of the inspection mass release stage in a twistor framework according to claim 2, characterized in that: In step S1), the coordinate system of the mass body is checked Relative to the satellite cavity coordinate system The twist It is expressed as: in, is the inspection mass body coordinate system Relative to the coordinate system The modified Rodrigues parameter of ; ε represents the dual operator; Represents twist The dual part of Represents the inspection mass body coordinate system Relative to the coordinate system The position vector of .

4. The method for controlling preset performance of the inspection mass release stage in a twistor framework according to claim 2, characterized in that: In step S1), the coordinate system of the mass body is checked Relative to the satellite cavity coordinate system Velocity Screw It is expressed as: in, and They are the inspection mass body coordinate systems Relative to the satellite cavity coordinate system The position, velocity and angular velocity of 5. The method for controlling preset performance of the inspection mass release stage in a twistor framework according to claim 2, characterized in that: In step S1), the dual gravity It is expressed as: in, To test the gravity acting on the mass, is the gravitational gradient torque acting on the test mass; ε represents the dual operator.

6. The method for controlling preset performance of the inspection mass release stage in a twistor framework according to claim 2, characterized in that: In step S1), the dual inertia matrix It is expressed as: Where m is the mass of the test mass, J is the inertia matrix of the test mass, I3 is the 3×3 identity matrix; ε represents the dual operator; It means taking the derivative with respect to ε.

7. The method for controlling preset performance of the inspection mass release stage in a twistor framework according to claim 1, characterized in that: In step S2), the preset performance function ρ i The expression of (t) is: In the formula, ρ i (t) represents the preset performance function at time t; ρ 0i , ∞i The preset performance function ρ i (t) is the initial and final value; T represents the preset time for the system to reach the steady-state accuracy; 0<γ<1 represents the parameter to be designed, which is used to adjust the convergence rate.

8. The method for controlling preset performance of the inspection mass release stage in a twistor framework according to claim 1, characterized in that: In step S2), based on the relative motion model, a controller based on a preset performance function is designed; specifically, the following steps are included: S21) Design the specified performance constraints of the tracking error, namely: In the formula, represents the twistor at time t The i-th element of ; S22), set the normalized error e i , and through the conversion function Get the conversion error z 1i ;Right now: In the formula, e i Represents twist The normalized error of the i-th element of ; To inspect the mass body coordinate system Relative to the cavity coordinate system The twist amount; Represents twist The i-th element of ; ρ i represents the preset performance function; k z >0 indicates the parameter to be designed; S23), for the conversion error z 1i Derivation, get Right now: In the formula, Represents the conversion error z 1i The derivative of Represents twist The i-th element of the derivative of ; represents the derivative of a preset performance function; Represents twist The i-th element of ; therefore, It is expressed as: in, Represents the vector form of the conversion error derivative, R = diag (R1, R2, ..., R6); Represents twist The derivative of ψ = diag(ψ1, ψ2, ..., ψ6); Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The twist amount; S24) Use the backstepping method to design the control input and consider the following Lyapunov function, namely: Taking the derivative of V1, we get: in, Where V1 represents the Lyapunov function; Represents the vector form of the conversion error; the symbol represents the circle product; represents the derivative of the Lyapunov function V1; R = diag(R1, R2, ..., R6); [P] represents a matrix; Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system Velocity spinor; ψ=diag(ψ1,ψ2,...,ψ6); Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The twistor of ∨ Represents the dual quaternion right multiplication matrix; S25), design virtual error Right now: In the formula, is the virtual control law to be designed; S26), the virtual error Substituting into formula (1.6), we get: In the formula, represents the derivative of the Lyapunov function V1; Among them, the virtual control law It is expressed as: In the formula, represents the dual parameter; k 1r >0, k 1d >0 is the parameter to be designed; therefore, It is expressed as: S27), consider the following Lyapunov function, namely: And taking the derivative of V2, we get: Where V2 represents the Lyapunov function; express The form after the real part and the dual part are exchanged; is the dual inertia matrix; Denotes the dual external disturbance estimation error The form after the real part and the dual part are exchanged; express The inverse matrix of represents the dual external disturbance estimation error; Virtual control law The derivative of represents the derivative of the dual external disturbance estimation error; S28), design a preset performance controller; namely: in, represents the dual control force; represents the dual parameter to be designed; Represents the inspection mass body coordinate system Dual gravity under ; Represents the inspection mass body coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of ; T represents the transposition sign; represents the external dual perturbation estimate.

9. The method for controlling preset performance of the inspection mass release stage in a twistor framework according to claim 8, characterized in that: In step S28), Γ is expressed as: in, represents the dual inertia matrix; Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The velocity spinor of Represents the inspection mass body coordinate system Relative to the satellite cavity coordinate system The twist amount; Represents the unit dual quaternion; Represents the satellite cavity coordinate system Relative to the Earth-centered inertial coordinate system The velocity spinor of Velocity spinor The derivative of .

10. The method for controlling preset performance of the inspection mass release stage in a twistor framework according to claim 1, characterized in that: In step S28), the external dual perturbation is estimated The update law is: in, represents the dual matrix to be designed; is the matrix to be designed; represents the defined auxiliary variable; ε represents the dual operator; represents the derivative with respect to ε.

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