A data-driven-based uncertain spacecraft takeover control method, device, medium and product

Abstract

The application discloses a data-driven uncertain spacecraft takeover control method and device, medium and product, relates to the field of spacecraft dynamics and control technology, and comprises the following steps: constructing an uncertain spacecraft attitude takeover control model containing actuator position and state measurement information deviation, applying a random excitation sequence, obtaining an attitude response sequence and a state measurement output sequence of the uncertain spacecraft under the random excitation sequence; combining the random excitation sequence and the attitude response sequence to obtain a combination matrix; determining whether the combination matrix is row full rank; if the combination matrix is row full rank, generating an intermediate matrix according to the combination matrix, and setting an amplitude limiting constraint of the actuator; determining a takeover control law based on the intermediate matrix, the state measurement output sequence and the amplitude limiting constraint, and realizing the takeover control of the uncertain spacecraft by using the takeover control law; and if the combination matrix is not row full rank, a new random excitation sequence is generated again. The application can simply and effectively realize the on-orbit takeover control of the uncertain spacecraft.

Description

Technical Field

[0001] This application relates to the field of spacecraft control technology, and in particular to a data-driven method, device, medium, and product for unpredictable spacecraft takeover control. Background Technology

[0002] With the increasing frequency of space activities, the number of failed spacecraft is gradually increasing. Moreover, the inertial parameters of large spacecraft change drastically during on-orbit assembly. If a spacecraft becomes unstable during assembly, it will affect the smooth progress of subsequent assembly operations. Both failed spacecraft and unstable spacecraft during on-orbit assembly are considered uncertain spacecraft. Due to the high computational cost and slow convergence time of current on-orbit parameter identification methods, it is extremely difficult to implement rapid and low-cost takeover control of uncertain spacecraft (such as Chinese invention patent applications CN121044073A, CN111752154A, and CN107187617A).

[0003] Therefore, designing a simple and effective takeover control scheme for uncertain spacecraft is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] The purpose of this application is to provide a data-driven takeover control method, device, medium, and product for uncertain spacecraft, so as to simply and effectively realize on-orbit takeover control of uncertain spacecraft.

[0005] To achieve the above objectives, this application provides the following solution: In a first aspect, this application provides a data-driven method for uncertain spacecraft takeover control, including: An uncertain spacecraft attitude takeover control model is constructed; the uncertain spacecraft attitude takeover control model includes the actuator position deviation and state measurement information deviation of the uncertain spacecraft. A random excitation sequence is applied to the uncertain spacecraft attitude takeover control model to obtain the attitude response sequence of the uncertain spacecraft under the random excitation sequence, and the state measurement output sequence is obtained. The combined random excitation sequence and attitude response sequence are combined to obtain the combined matrix; Determine whether the combined matrix has full row rank; If the row is of full rank, an intermediate matrix is ​​generated based on the combined matrix, and the amplitude limit constraint of the actuator is set. The takeover control law is determined based on the intermediate matrix, the state measurement output sequence, and the amplitude limiting constraint, and the takeover control law is used to realize the takeover control of the uncertain spacecraft. If the order is not full, a new random excitation sequence is generated, and the step of applying the random excitation sequence to the uncertain spacecraft attitude takeover control model is returned.

[0006] Secondly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the data-driven uncertain spacecraft takeover control method provided above.

[0007] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the data-driven uncertain spacecraft takeover control method described above.

[0008] Fourthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the data-driven uncertain spacecraft takeover control method described above.

[0009] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a data-driven takeover control method, device, medium, and product for uncertain spacecraft. By constructing an attitude takeover control model for uncertain spacecraft that includes the position and state measurement information deviations of actuators, a stable takeover control law can be directly calculated from the measurement data (i.e., actuator position deviations and state measurement information deviations). This eliminates the need for a lengthy parameter identification process, thereby reducing the cost of implementing takeover control. Through an intermediate matrix and set amplitude constraints on the actuators, the takeover control poles can be arbitrarily configured, ensuring that the actuators do not exceed the amplitude constraints and providing suppression performance against external disturbances. The entire process in this application uses the full rank of the combined matrix as the control constraint condition, without requiring precise configuration of the installation positions of the actuators and measurement equipment used for takeover. This reduces the initial on-orbit operation requirements and costs, enabling simple and effective on-orbit takeover control of uncertain spacecraft. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments 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.

[0011] Figure 1 A flowchart illustrating a data-driven uncertain spacecraft takeover control method provided in an embodiment of this application; Figure 2 A schematic diagram of a technical route provided in an embodiment of this application; Figure 3 A diagram showing the pole configuration of a control system provided in an embodiment of this application; Figure 4 A schematic diagram of the attitude angle response curve of an uncertain spacecraft under a takeover control method provided in an embodiment of this application; Figure 5 A schematic diagram of the attitude angular velocity response curve of an uncertain spacecraft under a takeover control method, provided as an embodiment of this application; Figure 6 A schematic diagram of the control torque response curve generated by the first set of actuators provided in an embodiment of this application; Figure 7 A schematic diagram of the control torque response curve generated by the second set of actuators provided in an embodiment of this application; Figure 8 A schematic diagram of the control torque response curve generated by the third set of actuators provided in an embodiment of this application; Figure 9 A schematic diagram of the control torque response curve generated by the fourth set of actuators provided in an embodiment of this application; Figure 10 A schematic diagram of the control torque response curve generated by the fifth set of actuators provided in an embodiment of this application; Figure 11 A schematic diagram of the control torque response curve generated by the sixth set of actuators provided in an embodiment of this application; Figure 12 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0013] The purpose of this application is to provide a data-driven takeover control method, device, medium, and product for uncertain spacecraft. This method provides an end-to-end takeover scheme for uncertain spacecraft with at least one set of actuators and state measurement equipment, which directly translates measurement data into the design of a stable controller. It does not restrict the specific installation location of the actuators and measurement equipment. As long as the combined matrix of the excitation sequence generated by the actuator and the system attitude response sequence is of full rank, the takeover control law that ensures the stability of the takeover system can be directly calculated, thereby achieving takeover control of the uncertain spacecraft. The actions of the actuator will not exceed their amplitude limits, and the takeover system has the ability to suppress external interference.

[0014] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0015] In one exemplary embodiment, this application provides a data-driven method for unpredictable spacecraft takeover control. This method is executed by a computer device, specifically a terminal or server, or both. In this embodiment, the method is described using a server as an example. Figure 1 As shown, the method includes: Step 100: Construct an uncertain spacecraft attitude takeover control model. The uncertain spacecraft attitude takeover control model includes the actuator position deviations and state measurement information deviations of the uncertain spacecraft. The specific parameters of the uncertain spacecraft attitude takeover control model are unknown to the user and are only used for data generation. The state measurement information deviation refers to the information deviation measured by the sensors.

[0016] Step 101: Apply a random excitation sequence to the uncertain spacecraft attitude takeover control model, obtain the attitude response sequence of the uncertain spacecraft under the random excitation sequence, and obtain the state measurement output sequence. In practical applications, the attitude response sequence in this step can be obtained by sensors installed on the uncertain spacecraft.

[0017] Step 102: Combine the random excitation sequence and the attitude response sequence to obtain the combination matrix. In practical applications, the random excitation sequence and the attitude response sequence can be combined row-wise to obtain the combination matrix.

[0018] Step 103: Determine whether the combined matrix has full row rank.

[0019] Step 104: If the row is full rank, generate an intermediate matrix based on the combination matrix and set the amplitude limiting constraints for the actuators. The amplitude limiting constraints for the actuators can be set as the single-axis control torque amplitude constraints for each actuator set, denoted as... .

[0020] Step 105: Determine the takeover control law based on the intermediate matrix, state measurement output sequence, and amplitude limiting constraints, and implement takeover control of the uncertain spacecraft using the takeover control law. In practical applications, this step also includes calculating the takeover control law that can configure the takeover control poles within the required region, ensuring that the control's suppression of disturbances satisfies the H∞ performance constraint, and implementing takeover control according to the calculated takeover control law.

[0021] Step 106: If the row is not rank, generate a new random stimulus sequence and return to step 101.

[0022] In an exemplary embodiment of this application, in order to simplify the lengthy parameter identification process, the implementation process of step 100 described above can be described as follows: Step 100-1: Obtain the parameters of the uncertain spacecraft in the principal axis inertial coordinate system. The parameters include attitude information, roll angle, pitch angle, and yaw angle.

[0023] Step 100-2: Based on the parameters, and combining the system state matrix, system input matrix, and system control input, construct a small-angle attitude maneuver model of the uncertain spacecraft in the principal axis inertial coordinate system. The small-angle attitude maneuver model of the uncertain spacecraft in the principal axis inertial coordinate system is expressed as: .

[0024] In the formula, This represents the attitude information of an uncertain spacecraft in the principal axis inertial coordinate system, where t represents the current time. For the uncertain roll angle of the spacecraft in the principal axis inertial coordinate system, For the uncertain pitch angle of the spacecraft in the principal axis inertial coordinate system, For the uncertain yaw angle of the spacecraft in the principal axis inertial coordinate system, express The derivative of express The derivative of express The derivative of , where T denotes the conjugate transpose operation. express The derivative of . Let be the system state matrix, which is an unknown matrix. ,in, This represents a 3×3 matrix of all zeros. It is a 3D identity matrix. , For the orbital angular velocity of the spacecraft in an uncertain orbit, For the component of the spacecraft's moment of inertia along the x-axis in the principal axis inertial coordinate system, For the component of the spacecraft's moment of inertia along the y-axis in the principal axis inertial coordinate system, The component of the spacecraft's moment of inertia on the z-axis in the principal axis inertial coordinate system is unknown. . The system input matrix is ​​also unknown. , in, , For the system's control input, This includes interference from external disturbance torques and measurement noise.

[0025] Step 100-3: Using a small-angle attitude maneuver model, combined with the actuator position deviations and state measurement information deviations of the uncertain spacecraft, a continuous state-space model is obtained. Specifically, by incorporating the actuator position deviations and state measurement information deviations into the small-angle attitude maneuver model, the resulting continuous state-space model is expressed as follows: .

[0026] In the formula, This represents the actual state matrix of the system when the actuator has a deviation. Represented by matrix The generated diagonal matrix, To measure the transition matrix from the coordinate system to the uncertain principal inertia axis coordinate system of the spacecraft, This represents the attitude information of an uncertain spacecraft as measured by the sensor in its measurement coordinate system. express The derivative of Let be the input matrix corresponding to the i-th set of actuators. The transfer matrix for installing the coordinate system of the i-th actuator to the coordinate system of the uncertain principal inertia axis of the spacecraft. This represents the control input for the i-th actuator, where n represents the number of actuators that can provide control torque. for Representation in a measurement coordinate system.

[0027] Step 100-4: Discretize the continuous state-space model to obtain the uncertain spacecraft attitude takeover control model. The uncertain spacecraft attitude takeover control model is expressed as: .

[0028] Based on the aforementioned uncertain spacecraft attitude takeover control model, the output variables are set. Where C is the measurement output matrix, This represents the attitude information of the uncertain spacecraft at step k. This represents the attitude information of the spacecraft at the (k+)th step that is uncertain, i.e. The result after one transfer step. This represents the state transition matrix of an uncertain spacecraft. . This represents the control input matrix of an uncertain spacecraft. . For the control input of the i-th actuator at step k, For the interference at step k, It indicates the distance from the walk.

[0029] In an exemplary embodiment of this application, in order to directly bypass the parameter identification process, in step 101 above, each of the n sets of actuators applies a random excitation sequence within its own limiting range and records the application control generated by each random excitation sequence, as follows: .in, Represents a random excitation sequence. This represents the random stimulus applied by the first set of actuators at step k=0. Denotes the random excitation applied by the first set of actuators at step k=m, where This represents the random stimulus applied by the nth set of actuators at step k=0. This represents the random stimulus applied by the nth set of actuators at step k=m.

[0030] While applying random excitation, the sensor measures the corresponding attitude response sequence. and And the state measurement output sequence (i.e., the system measurement output sequence). .in, This provides the attitude response information corresponding to the application of the excitation at step k=0. This provides the attitude response information corresponding to the application of the excitation at step k=1. This provides the attitude response information corresponding to the application of the excitation at step k=m+1. This is the system measurement output corresponding to the application of the excitation at step k=0. The system measurement output corresponding to the application of the excitation at step k=m.

[0031] In an exemplary embodiment of this application, the combination matrix obtained by row-wise combination of the random excitation sequence and the attitude response sequence is represented as: . This represents a combination matrix.

[0032] Based on the combined matrix obtained above, the data matrix (i.e., the intermediate matrix) required for the control pole placement is calculated as follows: .

[0033] .

[0034] In the formula, This represents an invertible matrix composed of stimulus and response data. . This indicates the conjugate transpose operation. This represents a composite matrix consisting of a combination matrix and a one-step attitude transition data matrix. . This represents the attitude response sequence. This represents a one-step attitude transition response sequence. This represents the difference between the external disturbance data matrix and the one-step attitude transfer data matrix. . The matrix representing the upper bound of the envelope interference data is used to describe the upper bound of external interference and satisfies... ,in This is represented as the unknown external disturbance at step k=0. This is represented as an unknown external disturbance at step k = m, with the upper bound of the disturbance known. and Both represent intermediate matrices.

[0035] Furthermore, to ensure that the takeover control law not only guarantees the stability of the takeover system but also allows for direct configuration of system poles (i.e., takeover control poles) and, under the premise of input saturation, guarantees that the takeover system's suppression of external disturbances satisfies the H∞ performance constraint, the takeover control law can be directly designed using the control sequence and measured attitude response data. Based on this, and using the intermediate and combined matrices and the state measurement output sequence obtained above, the setting of the takeover control law and the process of implementing uncertain spacecraft takeover control using the takeover control law can be described as follows: Step 1: Use the formula Determine the data matrix required to implement the H∞ performance constraint. Where, This represents the data matrix required to implement the H∞ performance constraint. This represents a p-dimensional identity matrix, where the dimension p is determined by the matrix. The number of rows is determined. This represents the output sequence of state measurements.

[0036] Step 2: Solve the formula based on the data matrix required to implement the H∞ performance constraint. The variables describing the upper bound of the interference sequence are obtained. .

[0037] Step 3: Based on And amplitude limiting constraints, determine the formula Does a feasible solution exist? In the formula, Represents a 6-dimensional positive definite symmetric matrix The trace. Matrix and This is a two-dimensional matrix representing the poles of the constrained system (i.e., the control poles). ,in To solve for the gain matrix of the i-th actuator controller The designed 3×6 dimensional variable matrix. ,in A 3×6 dimensional variable matrix was designed to ensure that the i-th actuator meets the single-axis control torque amplitude constraint. Let be a block diagonal matrix generated from n pairwise positive definite variable matrices, and It is a 3n-dimensional square matrix. , , As an introduced balance factor, The parameter is positively correlated with the H∞ performance index. Representation matrix The j-th row, Parameters characterizing the attraction domain of the system, Let the positive constants to be solved be denoted by the symbol . Represents the direct product operation, symbol express The element at a given position is equal to the conjugate transpose of the element at its symmetrical position. This represents an identity matrix with matching dimensions.

[0038] When a feasible solution exists, the gain matrix of the actuator controller for each actuator is determined as follows: The control poles will be configured in the matrix. and Constrained complex plane Above, among which Indicates the use of state feedback The control point at the time of takeover, for The conjugate of the property, and the suppression of external disturbances satisfies the H∞ performance index, characterizing the degree of suppression. L 2 gain is Meanwhile, the various actuators within the uncertain spacecraft are operating according to the takeover control law. Apply control torque at each step to achieve takeover control of uncertain spacecraft.

[0039] If no feasible solution exists, generate a new random stimulus sequence and return to step 101.

[0040] Based on the above description, such as Figure 2 As shown, the technical approach of the data-driven uncertain spacecraft takeover control method provided in this application can be simplified as follows: S1: Based on the uncertain spacecraft attitude takeover control model, each actuator applies a random excitation sequence, and the uncertain spacecraft attitude changes accordingly.

[0041] S2: During the spacecraft's attitude change process, the sensor measures and records the spacecraft's attitude response sequence, along with the set measurement output sequence.

[0042] S3: While the actuator applies the excitation sequence, the random excitation sequence matrix and the attitude response sequence matrix are combined to form a combined matrix. The combined matrix is ​​checked to see if it is full rank. If it is not full rank, the actuator continues to apply the random sequence matrix until the combined matrix is ​​full rank.

[0043] Step 400: When the full rank condition of the combined matrix is ​​met, stop applying the excitation, calculate the intermediate matrix required for the takeover control law and set the amplitude limit constraint of the actuator, and then calculate the takeover control law.

[0044] Step 500: Each actuator applies control torque according to the calculated takeover control law to achieve stable control of the uncertain spacecraft attitude and thus complete the takeover.

[0045] In an exemplary embodiment of this application, based on the above technical approach, it is assumed that the state measurement output sequence... C Choose a 6-dimensional identity matrix; the transition matrix... The rotational inertia of the three axes is generated by rotating the three-axis deviation angles [9.60°, 1.90°, 8.72°] in a "3-1-2" sequence, and the rotational inertia of the three axes is taken as follows: , , orbital angular velocity , thus generating and Assume there are 6 sets of actuators used to take over the spacecraft, i.e., n = 6. The three-axis deviation angles between the 1st to 6th sets of actuators and the principal axis inertial coordinate system of the uncertain spacecraft are: [9.60°, 1.90°, 8.72°], [-0.21°, -1.44°, 5.32°], [4.89°, -1.15°, -8.96°], [-8.26°, 5.88°, 3.42°], [-9.38°, 1.14°, 4.41°], and [-7.81°, -5.68°, 6.24°], generated in a "3-1-2" rotation sequence. to Based on calculations and , as well as to ,calculate as well as to Take a walk away from the long distance. ,calculate as well as to Six actuators randomly generated excitations ranging from -2 Nm to 2 Nm in each of their three axes, applying them to the uncertain spacecraft attitude takeover control model at an excitation frequency of once every 0.1 s for a total of 5 s. The random excitation sequence was recorded. The spacecraft attitude changes according to the determined spacecraft attitude takeover control model after the excitation sequence is applied.

[0046] In this embodiment, the generated attitude response information is recorded. and and state measurement output sequence The combination matrix is: .

[0047] Check if the combined matrix is ​​of full rank. If not, the actuator continues to apply random sequence matrices until the combined matrix reaches full rank. When the combined matrix reaches full rank, stop applying excitation and calculate the intermediate matrix required for the takeover control law. satisfy .

[0048] Furthermore, the data matrix required to implement the H∞ performance constraint is calculated, and the single-axis control torque amplitude constraint for each actuator is set. Optimize the solution to determine a feasible solution.

[0049] The data-driven uncertain spacecraft takeover control method of this embodiment is verified by numerical simulation: In one exemplary embodiment of this application, the constraint matrix that takes over the control poles (i.e., the poles of the closed-loop system implementing this method) , That is, the control poles will be configured in a band region on the complex plane where the real part is greater than 0 and less than 1. In this case, feasible solutions exist. The gains of the six actuator controllers are as follows: .

[0050] .

[0051] .

[0052] .

[0053] .

[0054] .

[0055] The system (i.e., the system implementing the method provided in this application) satisfies the H∞ performance index for suppressing external interference, and the L2 gain characterizing the degree of suppression is... .

[0056] Parameters characterizing the attraction field properties in the optimization results Set the initial state of the system as According to calculations, If the system is within the saturated attraction domain, that is, within the set single-axis control torque amplitude constraint... Under these conditions, the system remains stable.

[0057] from Figure 3 It can be seen that the system's poles are ultimately placed in a band region on the complex plane where the real part is greater than 0 and less than 1, satisfying the pole placement constraint. Furthermore, the system poles are located within the unit circle centered at the origin, indicating that the system is asymptotically stable. Figure 3 In the diagram, the horizontal axis represents the real number axis, used to describe the real part of the poles of the closed-loop control system, and the vertical axis represents the imaginary axis, used to describe the imaginary part of the poles of the closed-loop control system.

[0058] from Figure 4 and Figure 5 As can be seen, the three-axis attitude angles and attitude angular velocities of the uncertain spacecraft stabilize rapidly, proving that the data-driven uncertain spacecraft takeover control method provided in this application is effective and can realize attitude takeover of uncertain spacecraft.

[0059] from Figures 6-11 It can be seen that the amplitude of the maximum single-axis control torque of all actuators is constrained within a certain range. Within this range, and the system eventually reaches stability, it proves that the estimation of the attraction domain in the data-driven uncertain spacecraft takeover control method provided in this application is effective, and successfully enables the system to converge to the equilibrium point even under saturation conditions.

[0060] In summary, the data-driven takeover control method for uncertain spacecraft provided in this application can directly bypass the parameter identification process by applying a set of finite control sequences to the uncertain spacecraft and measuring the corresponding attitude response data. The takeover controller can be designed directly through the control sequences and the measured attitude response data. The controller calculated from the control sequences and the measured attitude response data can not only ensure the stability of the takeover system, but also directly configure the system poles and ensure that the takeover system's suppression of external disturbances meets the H∞ performance constraint under the premise of input saturation.

[0061] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 12As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data-driven, uncertain spacecraft takeover control data. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a data-driven, uncertain spacecraft takeover control method.

[0062] Those skilled in the art will understand that Figure 12 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include, but are not limited to, the following: Figure 12 The diagram shows more or fewer components, or combinations of certain components, or different component arrangements.

[0063] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0064] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0065] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0066] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0067] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (RRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0068] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0069] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0070] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A data-driven, uncertain spacecraft takeover control method, characterized in that, include: Construct an attitude takeover control model for an uncertain spacecraft; The uncertain spacecraft attitude takeover control model includes the actuator position deviation and state measurement information deviation of the uncertain spacecraft. A random excitation sequence is applied to the uncertain spacecraft attitude takeover control model to obtain the attitude response sequence of the uncertain spacecraft under the random excitation sequence, and the state measurement output sequence is obtained. The combined random excitation sequence and attitude response sequence are combined to obtain the combined matrix; Determine whether the combined matrix has full row rank; If the row is of full rank, an intermediate matrix is ​​generated based on the combined matrix, and the amplitude limit constraint of the actuator is set. The takeover control law is determined based on the intermediate matrix, the state measurement output sequence, and the amplitude limiting constraint, and the takeover control law is used to realize the takeover control of the uncertain spacecraft. If the order is not full, a new random excitation sequence is generated, and the step of applying the random excitation sequence to the uncertain spacecraft attitude takeover control model is returned.

2. The data-driven uncertain spacecraft takeover control method according to claim 1, characterized in that, Constructing an uncertain spacecraft attitude takeover control model, including: Obtain parameters of an uncertain spacecraft in the principal axis inertial coordinate system; the parameters include attitude information, roll angle, pitch angle, and yaw angle; Based on the parameters, a small-angle attitude maneuver model of an uncertain spacecraft in the principal axis inertial coordinate system is constructed by combining the system state matrix, the system input matrix, and the system control input. By using the small-angle attitude maneuver model and combining it with the position deviation of the actuators and the deviation of the state measurement information of the uncertain spacecraft, a continuous state-space model is obtained. Discretize the continuous state-space model to obtain the uncertain spacecraft attitude takeover control model.

3. The data-driven uncertain spacecraft takeover control method according to claim 2, characterized in that, The uncertain spacecraft attitude takeover control model is expressed as follows: ； In the formula, This indicates that the attitude information of the spacecraft is uncertain at step k+1. This indicates that the attitude information of the spacecraft is uncertain at step k. This represents the state transition matrix of an uncertain spacecraft. This represents the control input matrix of an uncertain spacecraft. For the control input of the i-th actuator at step k, This is the interference at step k.

4. The data-driven uncertain spacecraft takeover control method according to claim 1, characterized in that, Combining the random excitation sequence and the attitude response sequence yields a combined matrix, including: The random excitation sequence and attitude response sequence are combined row by row to obtain the combined matrix.

5. The data-driven uncertain spacecraft takeover control method according to claim 1, characterized in that, The intermediate matrix is ​​represented as follows: ； ； In the formula, This represents an invertible matrix composed of stimulus and response data. ; Represents a combination matrix; This represents the conjugate transpose operation; This represents a composite matrix consisting of a combination matrix and a one-step attitude transition data matrix. ; Represents the attitude response sequence; This represents a one-step attitude transition response sequence; This represents the difference between the external disturbance data matrix and the one-step attitude transfer data matrix. ; A matrix representing the upper bound of the envelope interference data, used to describe the upper bound of external interference; and Both represent intermediate matrices.

6. The data-driven uncertain spacecraft takeover control method according to claim 5, characterized in that, The amplitude limit constraint of the actuator is set as the single-axis control torque amplitude constraint for each actuator.

7. The data-driven uncertain spacecraft takeover control method according to claim 6, characterized in that, The takeover control law is determined based on the intermediate matrix, the state measurement output sequence, and the amplitude limiting constraint, and the takeover control of the uncertain spacecraft is achieved using the takeover control law, including: Using formula Determine the data matrix required to implement the H∞ performance constraint; where, This represents the data matrix required to implement the H∞ performance constraint; This represents a p-dimensional identity matrix, where the dimension p is determined by the matrix. The number of rows is determined. Represents a random stimulus sequence; This represents the output sequence of state measurements; Based on the formula for solving the data matrix required to implement the H∞ performance constraint The variables that describe the upper bound of the interference sequence are obtained. ; Based on the upper bound of the variables to be solved for describing the interference sequence And the aforementioned amplitude limiting constraint, determine the formula Does a feasible solution exist? Where, Represents a 6-dimensional positive definite symmetric matrix trace; matrix and A two-dimensional matrix representing the poles of the constraint system; matrix ,in To solve for the gain matrix of the i-th actuator controller The designed 3×6 dimensional variable matrix; ,in A 3×6 dimensional variable matrix was designed to ensure that the i-th actuator meets the single-axis control torque amplitude constraint. Let be a block diagonal matrix generated from n pairwise positive definite variable matrices, and It is a 3n-dimensional square matrix; , , As an introduced balance factor, The parameter is positively correlated with the H∞ performance index; Representation matrix The j-th row, Parameters characterizing the attraction domain of the system, Let the positive constants to be solved be denoted by the symbol . Represents the direct product operation, symbol express The element at a given position is equal to the conjugate transpose of the element at its symmetrical position. Represents an identity matrix with matching dimensions; When the feasible solution exists, the gain matrix of the actuator controller for each actuator is determined as follows: The various actuators within the spacecraft are operating under uncertain control laws. Apply control torque at each step to achieve takeover control of uncertain spacecraft; When no feasible solution exists, generate a new random excitation sequence and return to the step of applying the random excitation sequence to the uncertain spacecraft attitude takeover control model.

8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that the processor executes the computer program to implement the data-driven uncertain spacecraft takeover control method according to any one of claims 1-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the data-driven uncertain spacecraft takeover control method according to any one of claims 1-7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the data-driven uncertain spacecraft takeover control method according to any one of claims 1-7.

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