A spacecraft rendezvous control method based on an interference observer and related equipment

Abstract

The application relates to the technical field of spacecraft control, and provides a spacecraft rendezvous control method based on an interference observer and related equipment, the method comprising the following steps: constructing a dynamic model of target spacecraft rendezvous on a geosynchronous orbit, and designing an interference observer based on the dynamic model; defining a cost function based on system state quantities of the target spacecraft, and constructing an action controller of the target spacecraft according to the cost function; calculating a control interference estimation value of the target spacecraft according to the interference observer, and calculating an optimal control value according to the action controller; calculating a final control value of the target spacecraft based on the control interference estimation value and the optimal control value, and performing orbit rendezvous control on the target spacecraft based on the final control value. The method can improve the precision of spacecraft rendezvous control.

Description

Technical Field

[0001] This application relates to the field of spacecraft control technology, and in particular to a spacecraft rendezvous control method and related equipment based on an interference observer. Background Technology

[0002] With the continuous development of aerospace technology, space missions are becoming increasingly complex, and the number of faulty and failed spacecraft is constantly increasing, making on-orbit servicing and maintenance technology increasingly important. Spacecraft rendezvous and docking technology is a key technology and prerequisite for achieving on-orbit servicing and maintenance. Commonly used non-optimal control methods for spacecraft include robust gain regulation control and linear state feedback control. While these non-optimal linear control methods can achieve good control results, they struggle to handle issues such as limited fuel and state constraints. To address this problem, model predictive control has received widespread attention in existing research. However, this method requires solving a complex nonlinear programming problem or substituting the Riccati equation at each sampling time, which consumes very high computational resources, unacceptable for recent on-orbit servicing and maintenance missions. Therefore, a low-complexity spacecraft rendezvous control method deserves further research. Furthermore, considering the external disturbances such as space perturbations and unwanted orbital maneuvers during spacecraft rendezvous, it is difficult to guarantee the control accuracy of spacecraft rendezvous under their influence. Summary of the Invention

[0003] This application provides a spacecraft rendezvous control method and related equipment based on an interference observer, which can solve the problem of low control accuracy in spacecraft rendezvous.

[0004] In a first aspect, embodiments of this application provide a spacecraft rendezvous control method based on an interference observer, the spacecraft rendezvous control method comprising:

[0005] A dynamic model of the target spacecraft rendezvous at the Earth-Moon translation point orbit is constructed, and an interference observer is designed based on the dynamic model; the interference observer is used to describe the velocity changes of the target spacecraft caused by external disturbances.

[0006] A cost function is defined based on the system state variables of the target spacecraft, and an action controller for the target spacecraft is constructed based on the cost function. The cost function is used to describe the tracking error of the target spacecraft during orbital rendezvous, and the action controller is used to describe the changes in the target spacecraft's actions under the influence of the tracking error.

[0007] The estimated control interference value of the target spacecraft is calculated based on the interference observer, and the optimal control value is calculated based on the action controller;

[0008] The final control value of the target spacecraft is calculated based on the estimated control disturbance value and the optimal control value, and orbital rendezvous control is performed on the target spacecraft based on the final control value.

[0009] Optional, the dynamic model is:

[0010] ;

[0011] in, Indicates the relative position of the target spacecraft The derivative of , Indicates the relative position of the target spacecraft on the horizontal axis. Indicates the relative position of the target spacecraft on the vertical axis. Indicates the relative position of the target spacecraft on the vertical axis. Indicates transpose. Represents the relative velocity of the target spacecraft The derivative of , This represents the relative velocity of the target spacecraft on the horizontal axis. This represents the relative velocity of the target spacecraft along the vertical axis. This represents the relative velocity of the target spacecraft along the vertical axis. Represents a term in a nonlinear dynamic system. , This represents the component of the nonlinear dynamic system term on the horizontal axis. This represents the component of the nonlinear dynamic system term on the vertical axis. This represents the component of the nonlinear dynamic system term on the vertical axis. This represents the acceleration input of the target spacecraft. , This represents the acceleration input of the target spacecraft on the horizontal axis. This represents the acceleration input of the target spacecraft along the vertical axis. This represents the acceleration input of the target spacecraft along the vertical axis. This represents the change in acceleration of the target spacecraft caused by external disturbances. , This represents the change in acceleration of the target spacecraft on the horizontal axis caused by external disturbances. This represents the change in acceleration of the target spacecraft along the longitudinal axis caused by external disturbances. It represents the change in the target spacecraft's acceleration along the vertical axis caused by external disturbances.

[0012] Optionally, the interference observer is:

[0013] ;

[0014] in, Indicate intermediate variables The derivative of , This represents the estimated value of the control disturbance. Indicates the gain of the nonlinear disturbance observer. Represents a nonlinear function. .

[0015] Optionally, the cost function is:

[0016] ;

[0017] in, This represents the value of the cost function. Indicates the first The lower limit of the prediction time domain, Indicates the first The upper limit of the prediction time domain, Indicates the duration of the prediction time domain. , Indicates the first A time in the prediction time domain, Indicates time Tracking error during orbital rendezvous with the target spacecraft. Indicates time Tracking error during orbital rendezvous with the target spacecraft. , , , This indicates the spacecraft's relative position tracking error. This indicates the spacecraft's relative velocity tracking error. This indicates a desired relative position instruction. This indicates the desired relative speed command. , This represents the system state variables of the target spacecraft. This represents the incremental cost within the prediction time domain. This represents the terminal cost within the predicted time domain.

[0018] Optionally, the motion controller is:

[0019] ;

[0020] in, Indicates the first The optimal control value in the prediction time domain, This represents the optimal control value at the moment of application. This represents the optimal control sequence. Indicates the default control sequence. Represents the control matrix. Represents the weight matrix. This represents the expected descent gradient constant. This indicates the duration of the optimal control value. Indicates duration, This represents an index term related to waiting time. Indicates the accompanying state. Indicates time The value of the cost function, This indicates transpose.

[0021] Optionally, the final control values ​​of the target spacecraft are calculated based on the estimated control disturbance values ​​and the optimal control values, including:

[0022] Through the formula:

[0023] ;

[0024] Calculation time final control value ;

[0025] in, Indicates time The optimal control value, Indicates time The estimated value of the control disturbance.

[0026] Secondly, embodiments of this application provide a spacecraft rendezvous control device based on an interference observer, comprising:

[0027] The module is used to build a dynamic model of the target spacecraft's rendezvous at the Earth-Moon translation point orbit, and to design an interference observer based on the dynamic model; the interference observer is used to describe the velocity changes of the target spacecraft caused by external disturbances.

[0028] The definition module is used to define the cost function based on the system state variables of the target spacecraft, and to construct the motion controller of the target spacecraft based on the cost function. The cost function is used to describe the tracking error of the target spacecraft when performing orbital rendezvous, and the motion controller is used to describe the change in the motion of the target spacecraft under the influence of the tracking error.

[0029] The calculation module is used to calculate the estimated control interference value of the target spacecraft based on the interference observer, and to calculate the optimal control value based on the action controller;

[0030] The control module is used to calculate the final control value of the target spacecraft based on the estimated control disturbance value and the optimal control value, and to perform orbital rendezvous control on the target spacecraft based on the final control value.

[0031] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the aforementioned spacecraft rendezvous control method based on an interference observer.

[0032] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned spacecraft rendezvous control method based on an interference observer.

[0033] The above-mentioned solution in this application has the following beneficial effects:

[0034] In the embodiments of this application, a dynamic model of the target spacecraft's rendezvous at the Earth-Moon translational point is constructed, and an interference observer is designed based on the dynamic model. Then, a cost function is defined based on the system state variables of the target spacecraft, and an action controller for the target spacecraft is constructed according to the cost function. Next, the estimated control interference value of the target spacecraft is calculated based on the interference observer, and the optimal control value is calculated based on the action controller. Finally, the final control value of the target spacecraft is calculated based on the estimated control interference value and the optimal control value, and orbital rendezvous control of the target spacecraft is performed based on the final control value. Specifically, the interference observer is designed to represent the impact of external disturbances on the target spacecraft, thus considering external disturbances. The action controller, constructed based on the cost function, considers the tracking error during orbital rendezvous. By performing orbital rendezvous control of the target spacecraft based on the interference observer and the action controller, external disturbances and tracking errors are reduced, effectively improving the control accuracy of the target spacecraft's rendezvous.

[0035] Other beneficial effects of this application will be described in detail in the following detailed description section. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A flowchart of a spacecraft rendezvous control method based on an interference observer provided in an embodiment of this application;

[0038] Figure 2 This is a schematic diagram of the relative position change curve provided in an embodiment of this application;

[0039] Figure 3This is a schematic diagram of the relative velocity change curve provided in an embodiment of this application;

[0040] Figure 4 This is a schematic diagram of the control input curve provided in an embodiment of this application;

[0041] Figure 5 A schematic diagram of the structure of a spacecraft rendezvous control device based on an interference observer provided in an embodiment of this application;

[0042] Figure 6 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation

[0043] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0044] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0045] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0046] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0047] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0048] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0049] To address the issue of low control accuracy in existing spacecraft rendezvous methods, this application proposes a spacecraft rendezvous control method based on a disturbance observer. This method constructs a dynamic model of the target spacecraft's rendezvous at the Earth-Moon translational point orbit, designs a disturbance observer based on this model, defines a cost function based on the target spacecraft's system state variables, constructs an action controller for the target spacecraft based on the cost function, calculates the estimated control disturbance value of the target spacecraft using the disturbance observer, calculates the optimal control value using the action controller, and finally calculates the final control value of the target spacecraft based on the estimated control disturbance value and the optimal control value, performing orbital rendezvous control on the target spacecraft based on the final control value. Specifically, the disturbance observer design effectively represents the impact of external disturbances on the target spacecraft, taking into account external disturbances; the action controller construction based on the cost function considers the tracking error of the target spacecraft's orbital rendezvous; and the orbital rendezvous control based on the disturbance observer and action controller reduces external disturbances and tracking errors, effectively improving the control accuracy of the target spacecraft rendezvous.

[0050] The following is an exemplary description of the spacecraft rendezvous control method based on an interference observer provided in this application.

[0051] like Figure 1 As shown, the spacecraft rendezvous control method based on an interference observer provided in this application includes the following steps:

[0052] Step 11: Construct a dynamic model of the target spacecraft's rendezvous at the Earth-Moon translation point orbit, and design an interference observer based on the dynamic model.

[0053] The aforementioned disturbance observer is used to describe the velocity changes of the target spacecraft caused by external disturbances. The target spacecraft is one that will rendezvous with the tracking spacecraft at the Earth-Moon translation point, and rendezvous control is required. The aforementioned dynamic model is used to describe the relative position and relative velocity between the target and tracking spacecraft. The aforementioned disturbance observer is used to describe the velocity changes of the target spacecraft caused by external disturbances.

[0054] The above dynamic model is:

[0055] ;

[0056] in, Indicates the relative position of the target spacecraft The derivative of , Indicates the relative position of the target spacecraft on the horizontal axis. Indicates the relative position of the target spacecraft on the vertical axis. Indicates the relative position of the target spacecraft on the vertical axis. Indicates transpose. Represents the relative velocity of the target spacecraft The derivative of , This represents the relative velocity of the target spacecraft on the horizontal axis. This represents the relative velocity of the target spacecraft along the vertical axis. This represents the relative velocity of the target spacecraft along the vertical axis. The nonlinear dynamic system terms in the dynamic model are represented. , This represents the component of the nonlinear dynamic system term on the horizontal axis. This represents the component of the nonlinear dynamic system term on the vertical axis. This represents the component of the nonlinear dynamic system term on the vertical axis. This represents the acceleration input of the target spacecraft. , This represents the acceleration input of the target spacecraft on the horizontal axis. This represents the acceleration input of the target spacecraft along the vertical axis. This represents the acceleration input of the target spacecraft along the vertical axis. This represents the change in acceleration of the target spacecraft caused by external disturbances. , This represents the change in acceleration of the target spacecraft on the horizontal axis caused by external disturbances. This represents the change in acceleration of the target spacecraft along the longitudinal axis caused by external disturbances. It represents the change in the target spacecraft's acceleration along the vertical axis caused by external disturbances.

[0057] The aforementioned interference observer is:

[0058] ;

[0059] in, Indicate intermediate variables The derivative of , This represents the estimated value of the control disturbance. Indicates the gain of the nonlinear disturbance observer. This represents the nonlinear function to be designed. .

[0060] For example, the above The specific calculation method is as follows:

[0061] ;

[0062] in, Indicates quality parameters, , Indicates the mass of the Earth. Indicates the mass of the moon, parameters ,parameter , These are the Earth's center distance and the Moon's center distance from the tracking spacecraft, respectively. These are the Earth-center distance and the Moon-center distance of the target spacecraft, respectively. Indicates the position of the target spacecraft on the horizontal axis. Indicates the position of the target spacecraft on the vertical axis. This indicates the position of the target spacecraft on the vertical axis.

[0063] Step 12: Define a cost function based on the system state variables of the target spacecraft, and construct the action controller of the target spacecraft according to the cost function.

[0064] The aforementioned cost function is used to describe the tracking error of the target spacecraft during orbital rendezvous, and the motion controller is used to describe the motion changes of the target spacecraft under the influence of the tracking error (i.e., the acceleration changes of the target spacecraft).

[0065] The cost function is as follows:

[0066] ;

[0067] in, This represents the value of the cost function. Indicates the first The lower limit of the prediction time domain, Indicates the first The upper limit of the prediction time domain, Indicates the duration of the prediction time domain. , Indicates the first A time in the prediction time domain, Indicates time Tracking error during orbital rendezvous with the target spacecraft. Indicates time Tracking error during orbital rendezvous with the target spacecraft. , , , This indicates the spacecraft's relative position tracking error. This indicates the spacecraft's relative velocity tracking error. This indicates a desired relative position instruction. This indicates the desired relative speed command. , This represents the system state variables of the target spacecraft. This represents the incremental cost within the prediction time domain. This represents the terminal cost within the predicted time domain.

[0068] The above-mentioned motion controller is:

[0069] ;

[0070] in, Indicates the first The optimal control value in the prediction time domain, This represents the optimal control value at the moment of application. This represents the optimal control sequence. Indicates the default control sequence. Represents the control matrix. Represents the weight matrix. This represents the expected descent gradient constant. This indicates the duration of the optimal control value. Indicates duration, This represents an index term related to waiting time. Indicates the accompanying state. Indicates time The value of the cost function, This indicates transpose.

[0071] It should be noted that the control value is the change in the target spacecraft's acceleration, and the control sequence is the sequence of changes in the target spacecraft's acceleration. The specific expression for the accompanying state is:

[0072] ;

[0073] in, Indicates time Accompanying state The derivative of , Representing dimension, This represents the system state variables of the target spacecraft. Indicates time The accompanying state, This represents the terminal cost in the predicted time domain. Indicates time Tracking error during orbital rendezvous with the target spacecraft. This represents the state transition function of a spacecraft rendezvous system.

[0074] For example, when constructing the above motion controller, the optimal predictive control structure is first built based on the rolling timing control framework:

[0075] ;

[0076] ;

[0077] in, Indicates the duration of the optimal control value. Indicates the first A predictive time-domain control input, Indicates the sampling period. Indicates the default control sequence. This indicates the nominal control value.

[0078] Step 13: Calculate the estimated control interference value of the target spacecraft based on the interference observer, and calculate the optimal control value based on the action controller.

[0079] Specifically, the relative velocity and other state variables of the target spacecraft are substituted into the aforementioned interference observer for calculation to obtain the control interference estimate. The system state variables of the target spacecraft are then substituted into the aforementioned action controller for calculation to obtain the optimal control value.

[0080] Step 14: Calculate the final control value of the target spacecraft based on the estimated control disturbance value and the optimal control value, and perform orbit rendezvous control on the target spacecraft based on the final control value.

[0081] The control disturbance estimate is the change in the target spacecraft's acceleration caused by external disturbance, the optimal control value is the change in the target spacecraft's acceleration under ideal conditions, and the final control value is the change in the target spacecraft's acceleration after removing external disturbance.

[0082] Specifically, through the formula:

[0083] ;

[0084] Calculation time final control value .

[0085] in, Indicates time The optimal control value, Indicates time The estimated value of the control disturbance.

[0086] For example, the final control value is input into the control system of the target spacecraft. Since the final control value is the acceleration change value obtained after taking into account the external interference of the target spacecraft, the acceleration change of the target spacecraft is controlled according to the value to realize the orbital rendezvous control of the target spacecraft. This can reduce external interference to the target spacecraft and improve control accuracy.

[0087] The method of this application will be illustrated below with a specific example.

[0088] In this example, the target spacecraft is located on the Earth and the Moon. Halo orbit, amplitude is Quality parameters The initial relative positions of the tracking spacecraft and the target spacecraft are: The initial relative velocity is The desired relative position and desired relative velocity commands are respectively... and The maximum and minimum limits for control input are: m / s 2 Changes in acceleration caused by external disturbances:

[0089] ;

[0090] The target spacecraft is controlled using the method of this application, and the relative position change curve between the target spacecraft and the tracking spacecraft is shown in the figure. Figure 2 As shown, Figure 2 The horizontal axis represents time in hours (h), and the vertical axis represents relative position in kilometers (km). Figure 2 'a' represents the curve showing the relative position change on the horizontal axis. Figure 2 b is the curve showing the relative position change on the vertical axis. Figure 2 c is the curve showing the relative position change on the vertical axis.

[0091] The relative velocity change curve between the target spacecraft and the tracking spacecraft is as follows: Figure 3 As shown, Figure 3 The horizontal axis represents time, and the vertical axis represents relative velocity, with units of meters per second (m / s). Figure 3 'a' represents the curve of relative velocity change on the horizontal axis. Figure 3 b represents the relative velocity change curve on the vertical axis. Figure 3 c represents the curve of relative velocity change on the vertical axis.

[0092] The control input curve of the target spacecraft is as follows Figure 4 As shown, the horizontal axis represents time, and the vertical axis represents the control value, with the unit being meters per square second. , Figure 4'a' represents the control input curve on the horizontal axis. Figure 4 b represents the control input curve on the vertical axis. Figure 4 c represents the control input curve on the vertical axis.

[0093] Therefore, it can be seen that designing an interference observer can describe the impact of external disturbances on the target spacecraft and realize the consideration of external disturbances. Based on the cost function, an action controller is constructed, taking into account the tracking error of the target spacecraft's orbital rendezvous. Based on the interference observer and the action controller, the target spacecraft's orbital rendezvous control is performed, which reduces external disturbances and tracking errors and effectively improves the control accuracy of the target spacecraft's rendezvous.

[0094] Furthermore, the method of this application has the following advantages:

[0095] Low computational complexity: By embedding gradients in patterns and controlling actions in a rolling time-domain sequence, it avoids frequently solving complex optimization problems and is suitable for real-time on-orbit control.

[0096] High precision and strong robustness: In the presence of external disturbances, feedforward compensation is performed through a disturbance observer, which significantly improves control accuracy and system stability, and has strong engineering application value.

[0097] The following is an exemplary description of the spacecraft rendezvous control device based on an interference observer provided in this application.

[0098] like Figure 5 As shown, this application provides a spacecraft rendezvous control device based on an interference observer. The spacecraft rendezvous control device 500 based on the interference observer includes:

[0099] Module 501 is used to construct a dynamic model of the target spacecraft's rendezvous at the Earth-Moon translation point orbit, and to design an interference observer based on the dynamic model; the interference observer is used to describe the velocity changes of the target spacecraft caused by external disturbances.

[0100] Module 502 is defined to define a cost function based on the system state variables of the target spacecraft and to construct the motion controller of the target spacecraft based on the cost function. The cost function is used to describe the tracking error of the target spacecraft when performing orbital rendezvous, and the motion controller is used to describe the motion changes of the target spacecraft under the influence of the tracking error.

[0101] The calculation module 503 is used to calculate the estimated control interference value of the target spacecraft based on the interference observer, and to calculate the optimal control value based on the action controller;

[0102] The control module 504 is used to calculate the final control value of the target spacecraft based on the estimated control disturbance value and the optimal control value, and to perform orbital rendezvous control on the target spacecraft based on the final control value.

[0103] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0104] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0105] like Figure 6 As shown, an embodiment of this application provides a terminal device, wherein the terminal device D10 of this embodiment includes: at least one processor D100 ( Figure 6 The diagram shows only one processor, a memory D101, and a computer program D102 stored in the memory D101 and executable on the at least one processor D100, wherein the processor D100 executes the computer program D102 to implement the steps in any of the above method embodiments.

[0106] Specifically, when the processor D100 executes the computer program D102, it constructs a dynamic model of the target spacecraft's rendezvous at the Earth-Moon translational point, designs an interference observer based on the dynamic model, defines a cost function based on the target spacecraft's system state variables, constructs an action controller for the target spacecraft based on the cost function, calculates the estimated control interference value of the target spacecraft based on the interference observer, calculates the optimal control value based on the action controller, and finally calculates the final control value of the target spacecraft based on the estimated control interference value and the optimal control value, and performs orbital rendezvous control on the target spacecraft based on the final control value. The interference observer design can represent the impact of external disturbances on the target spacecraft, thus considering external disturbances. The action controller constructed based on the cost function considers the tracking error of the target spacecraft's orbital rendezvous. The orbital rendezvous control of the target spacecraft based on the interference observer and the action controller reduces external disturbances and tracking errors, effectively improving the control accuracy of the target spacecraft's rendezvous.

[0107] The processor D100 can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0108] In some embodiments, the memory D101 may be an internal storage unit of the terminal device D10, such as a hard disk or memory of the terminal device D10. In other embodiments, the memory D101 may be an external storage device of the terminal device D10, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the terminal device D10. Furthermore, the memory D101 may include both internal and external storage units of the terminal device D10. The memory D101 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory D101 can also be used to temporarily store data that has been output or will be output.

[0109] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the various method embodiments above.

[0110] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the steps described in the various method embodiments above.

[0111] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to the spacecraft rendezvous control method / terminal device based on an interference observer, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0112] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0113] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0114] The above description is the preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention.

Claims

1. A spacecraft rendezvous control method based on an interference observer, characterized in that, include: A dynamic model of the target spacecraft rendezvous at the Earth-Moon translation point is constructed, and an interference observer is designed based on the dynamic model; the interference observer is used to describe the velocity changes of the target spacecraft caused by external disturbances. A cost function is defined based on the system state variables of the target spacecraft, and an action controller for the target spacecraft is constructed based on the cost function. The cost function is used to describe the tracking error of the target spacecraft during orbital rendezvous, and the action controller is used to describe the change in the action of the target spacecraft under the influence of the tracking error. The estimated control interference value of the target spacecraft is calculated based on the interference observer, and the optimal control value is calculated based on the action controller; The final control value of the target spacecraft is calculated based on the estimated control disturbance value and the optimal control value, and orbital rendezvous control is performed on the target spacecraft based on the final control value; The dynamic model is as follows: in, Indicates the relative position of the target spacecraft The derivative of , This indicates the relative position of the target spacecraft on the horizontal axis. This indicates the relative position of the target spacecraft on the vertical axis. This indicates the relative position of the target spacecraft on the vertical axis. Indicates transpose. Represents the relative velocity of the target spacecraft. The derivative of , This represents the relative velocity of the target spacecraft on the horizontal axis. This represents the relative velocity of the target spacecraft along the longitudinal axis. This represents the relative velocity of the target spacecraft along the vertical axis. Represents a term in a nonlinear dynamic system. , This represents the component of the nonlinear dynamic system term on the horizontal axis. This represents the component of the nonlinear dynamic system term on the vertical axis. This represents the component of the nonlinear dynamic system term on the vertical axis. This represents the acceleration input of the target spacecraft. , This represents the acceleration input of the target spacecraft on the horizontal axis. This represents the acceleration input of the target spacecraft along the vertical axis. This represents the acceleration input of the target spacecraft along the vertical axis. This represents the change in acceleration of the target spacecraft caused by an external disturbance. , This represents the change in acceleration of the target spacecraft along the horizontal axis caused by external disturbances. This represents the change in acceleration of the target spacecraft along the longitudinal axis caused by external disturbance. This represents the change in acceleration of the target spacecraft along the vertical axis caused by external disturbance; The interference observer is: in, Indicate intermediate variables The derivative of , This represents the estimated value of the control disturbance. Indicates the gain of the nonlinear disturbance observer. Represents a nonlinear function. .

2. The spacecraft rendezvous control method according to claim 1, characterized in that, The cost function is: in, This represents the value of the cost function. Indicates the first The lower limit of the prediction time domain, Indicates the first The upper limit of the prediction time domain, Indicates the duration of the prediction time domain. , Indicates the first A time in the prediction time domain, Indicates time Tracking error during orbital rendezvous with the target spacecraft. Indicates time Tracking error during orbital rendezvous with the target spacecraft. , , , This indicates the spacecraft's relative position tracking error. This indicates the spacecraft's relative velocity tracking error. This indicates a desired relative position instruction. This indicates the desired relative speed command. , This represents the system state variables of the target spacecraft. This represents the incremental cost within the prediction time domain. This represents the terminal cost within the predicted time domain.

3. The spacecraft rendezvous control method according to claim 2, characterized in that, The motion controller is: in, Indicates the first The optimal control value in the prediction time domain, This represents the optimal control value at the moment of application. This represents the optimal control sequence. Indicates the default control sequence. express, Represents the weight matrix. This represents the expected descent gradient constant. This indicates the duration of the optimal control value. Indicates duration, This represents an index term related to waiting time. Indicates the accompanying state. Indicates time The value of the cost function, This indicates transpose.

4. The spacecraft rendezvous control method according to claim 3, characterized in that, The calculation of the final control value of the target spacecraft based on the estimated control disturbance value and the optimal control value includes: Through the formula: Calculation time final control value ; in, Indicates time The optimal control value, Indicates time The estimated value of the control disturbance.

5. A spacecraft rendezvous control device based on an interference observer, characterized in that, include: A construction module is used to build a dynamic model of the target spacecraft's rendezvous at the Earth-Moon translation point orbit, and to design an interference observer based on the dynamic model; the interference observer is used to describe the velocity changes of the target spacecraft caused by external disturbances. A definition module is used to define a cost function based on the system state variables of the target spacecraft, and to construct an action controller for the target spacecraft based on the cost function; the cost function is used to describe the tracking error of the target spacecraft during orbital rendezvous, and the action controller is used to describe the change in the action of the target spacecraft under the influence of the tracking error; The calculation module is used to calculate the estimated control interference value of the target spacecraft based on the interference observer, and to calculate the optimal control value based on the action controller; The control module is used to calculate the final control value of the target spacecraft based on the estimated control disturbance value and the optimal control value, and to perform orbital rendezvous control on the target spacecraft based on the final control value; The dynamic model is as follows: in, Indicates the relative position of the target spacecraft The derivative of , This indicates the relative position of the target spacecraft on the horizontal axis. This indicates the relative position of the target spacecraft on the vertical axis. This indicates the relative position of the target spacecraft on the vertical axis. Indicates transpose. Represents the relative velocity of the target spacecraft. The derivative of , This represents the relative velocity of the target spacecraft on the horizontal axis. This represents the relative velocity of the target spacecraft along the longitudinal axis. This represents the relative velocity of the target spacecraft along the vertical axis. Represents a term in a nonlinear dynamic system. , This represents the component of the nonlinear dynamic system term on the horizontal axis. This represents the component of the nonlinear dynamic system term on the vertical axis. This represents the component of the nonlinear dynamic system term on the vertical axis. This represents the acceleration input of the target spacecraft. , This represents the acceleration input of the target spacecraft on the horizontal axis. This represents the acceleration input of the target spacecraft along the vertical axis. This represents the acceleration input of the target spacecraft along the vertical axis. This represents the change in acceleration of the target spacecraft caused by an external disturbance. , This represents the change in acceleration of the target spacecraft along the horizontal axis caused by external disturbances. This represents the change in acceleration of the target spacecraft along the longitudinal axis caused by external disturbance. This represents the change in acceleration of the target spacecraft along the vertical axis caused by external disturbance; The interference observer is: in, Indicate intermediate variables The derivative of , This represents the estimated value of the control disturbance. Indicates the gain of the nonlinear disturbance observer. Represents a nonlinear function. .

6. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the spacecraft rendezvous control method based on an interference observer as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the spacecraft rendezvous control method based on an interference observer as described in any one of claims 1 to 4.

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