对失控翻滚目标任意位置悬停的模糊控制
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摘要
针对失控翻滚目标任意位置悬停的控制问题进行研究。在目标器轨道坐标系下建立任意偏心率的三维相对运动方程,并分析失控翻滚目标的姿态运动特性。将悬停问题解耦为三个通道的二维模糊控制问题,并以x通道为例进行Mamdani型模糊控制器设计。确定相应的模糊子集、隶属度函数以及模糊控制规则表,采用面积中心法解模糊化。通过数值仿真验证了模糊控制器的控制性能。
The problem of any selected position hovering control of uncontrolled tumbling satellite was researched.A three-dimensional relative motion equation of arbitrary eccentricity was established in the target orbital coordinate system,and the attitude motion characteristics of the uncontrolled tumbling satellite were analyzed.The hovering problem was decoupled into two-dimensional fuzzy control problem of three channels,and the Mamdani fuzzy controller was designed with the channel x as an example.Determining the corresponding fuzzy subset,membership function and fuzzy control rule table,the fuzzy was solved by using the area center method.The control performance of the designed fuzzy controller was verified by numerical simulations.
The problem of any selected position hovering control of uncontrolled tumbling satellite was researched.A three-dimensional relative motion equation of arbitrary eccentricity was established in the target orbital coordinate system,and the attitude motion characteristics of the uncontrolled tumbling satellite were analyzed.The hovering problem was decoupled into two-dimensional fuzzy control problem of three channels,and the Mamdani fuzzy controller was designed with the channel x as an example.Determining the corresponding fuzzy subset,membership function and fuzzy control rule table,the fuzzy was solved by using the area center method.The control performance of the designed fuzzy controller was verified by numerical simulations.
引文
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[6]Dang Z H,Wang Z K,Zhang Y L.Modeling and analysis of relative hovering control for spacecraft[J].Journal of Guidance Control&Dynamics,2014,37(4):1091-1102.
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[21]王功波,孟云鹤,郑伟,等.基于轨道动力学的椭圆轨道悬停方法[J].宇航学报,2010,31(6):1527-1532.WANG Gongbo,MENG Yunhe,ZHENG Wei,et al.An orbit dynamics-based elliptical orbit hovering method[J].Journal of Astronautic,2010,31(6):1527-1532.(in Chinese)
[22]王功波,郑伟,孟云鹤,等.相对非圆轨道的悬停控制方法研究[J].中国科学:技术科学,2011,4(11):1505-1511.WANG Gongbo,ZHENG Wei,MENG Yunhe,et al.Research on hovering control scheme to non-circular orbit[J].Scientia Sinica:Technologica,2011,4(11):1505-1511.(in Chinese)
[23]阎野,朱亚文.非圆轨道卫星实现共面悬停的方法[J].中国空间科学技术,2010,30(2):42-48.YAN Ye,ZHU Yawen.Coplanar hovering method over space target on non-circular orbit[J].Chinese Space Science and Technology,2010,30(2):42-48.(in Chinese)
[24]闫野.卫星相对空间目标任意位置悬停的方法研究[J].中国空间科学技术,2009,29(1):1-5.YAN Ye.Study of hovering method at any selected position to space target[J].Chinese Space Science and Technology,2009,29(1):1-5.(in Chinese)
[25]Singla P,Subbarao K,Junkins J L.Adaptive output feedback control for spacecraft rendezvous and docking under measurement uncertainty[J].Journal of Guidance,Control,and Dynamics,2006,29(4):892-902.
[26]屠善澄.卫星姿态动力学与控制[M].北京:中国宇航出版社,2001.TU Shancheng.Attitude dynamics and control of satellite[M].Beijing:China Astronautic Publishing House,2001.(in Chinese)
[27]李士勇.模糊控制[M].哈尔滨:哈尔滨工业大学出版社,2011.LI Shiyong.Fuzzy control[M].Harbin:Harbin Institute of Technology Press,2011.(in Chinese)
[2]Bellerose J,Miotto P,Singh L,et al.Payload use,close proximity operations and guidance,navigation and control at near earth asteroids[C]//Proceedings of 36th Annual AASGuidance and Control Conference,2013.
[3]刘将辉,李海阳.对失控翻滚目标逼近的增广比例导引律控制[J].系统工程与电子技术,2018,40(10):2311-2316.LIU Jianghui,LI Haiyang.Augmented proportional navigation control for approach to uncontrolled tumbling satellite[J].Systems Engineering and Electronics,2018,40(10):2311-2316.(in Chinese)
[4]Gaudet B,Furfaro R.Robust spacecraft hovering near small bodies in envi-ronments with unknown dynamics using reinforcement learning[C]//Proceedings of AIAA/AASAstrodynamics Specialist Conference,2012:AIAA2012-5072.
[5]Scheeres D J.Controlled hovering motion at an asteroid[M].Germany:Springer,2012:243-254.
[6]Dang Z H,Wang Z K,Zhang Y L.Modeling and analysis of relative hovering control for spacecraft[J].Journal of Guidance Control&Dynamics,2014,37(4):1091-1102.
[7]饶殷睿,韩潮,殷建丰.航天器悬停构型设计与控制方法[J].航空学报,2015,36(7):2361-2371.RAO Yinrui,HAN Chao,YIN Jianfeng.Method of spacecraft hovering formation design and control[J].Acta Aeronautica et Astronautica Sinica,2015,36(7):2361-2371.(in Chinese)
[8]Zeng X Y,Gong S P,Li J F,et al.Hovering flight over elongated asteroids by using solar sails[J].Journal of Deep Space Exploration,2015,2(1):48-52.
[9]Zeng X Y,Gong S P,Li J F,et al.Solar sail body-fixed hovering over elongated asteroids[J].Journal of Guidance Control&Dynamics,2016,39(6):1223-1231.
[10]Zhao J S,Sheng Y Z,Zeng X Y,et al.Finite-time control based on the time-varying sliding mode for spacecraft bodyfixed hovering over an asteroid[C]//Proceedings of Chinese Control Conference,2017:3781-3786.
[11]Morrow E M.Solar sail orbit operations[D].USA:University of California,2002.
[12]Sawai S,Sheeres D J,Broschart S B.Control of hovering spacecraft using altimetry[J].Journal of Guidance,Control,and Dynamics,2002,25(4):786-795.
[13]Wie B.Hovering control of a solar sail gravity tractor spacecraft for asteroid deflection[J].Advances in the Astronautical Sciences,2007,127:1-20.
[14]Broschart S B.Close proximity spacecraft maneuvers near irregularly shaped small-bodies:hovering,translation,and descent[D].USA:University of Michigan,2006.
[15]Broschart S B,Sheeres D J.Boundedness of spacecraft hovering under dead-band control in time-invariant systems[J].Journal of Guidance,Control,and Dynamics,2007,30(2):601-610.
[16]Broschart S B,Sheeres D J.Lyapunov stability of hovering spacecraft in time-invariant systems[C]//Proceedings of 15th AAS/AIAA Space Flight Mechanics Conference,2005.
[17]Lee D,Sanyal A K,Butcher E A,et al.Spacecraft hovering control for body-fixed hovering over a uniformly rotating asteroid using geometric mechanics[J].Advances in the Astronautical Sciences,2014,150:1757-1773.
[18]Lee D,Vukovich G.Adaptive sliding mode control for spacecraft body-fixed hovering in the proximity of an asteroid[J].Aerospace Science and Technology,2015,46:471-483.
[19]Lee D,Sanyal A K,Butcher E A,et al.Finite-time control for spacecraft body-fixed hovering over an asteroid[J].IEEETransactions on Aerospace&Electronic Systems,2015,51(1):506-520.
[20]林来兴,黎康.卫星对空间目标悬停的轨道动力学与控制方法研究[J].中国空间科学技术,2008,28(1):9-12.LIN Laixing,LI Kang.Orbit dynamics and control of satellites hovering over space target[J].Chinese Space Science&Technology,2008,28(1):9-12.(in Chinese)
[21]王功波,孟云鹤,郑伟,等.基于轨道动力学的椭圆轨道悬停方法[J].宇航学报,2010,31(6):1527-1532.WANG Gongbo,MENG Yunhe,ZHENG Wei,et al.An orbit dynamics-based elliptical orbit hovering method[J].Journal of Astronautic,2010,31(6):1527-1532.(in Chinese)
[22]王功波,郑伟,孟云鹤,等.相对非圆轨道的悬停控制方法研究[J].中国科学:技术科学,2011,4(11):1505-1511.WANG Gongbo,ZHENG Wei,MENG Yunhe,et al.Research on hovering control scheme to non-circular orbit[J].Scientia Sinica:Technologica,2011,4(11):1505-1511.(in Chinese)
[23]阎野,朱亚文.非圆轨道卫星实现共面悬停的方法[J].中国空间科学技术,2010,30(2):42-48.YAN Ye,ZHU Yawen.Coplanar hovering method over space target on non-circular orbit[J].Chinese Space Science and Technology,2010,30(2):42-48.(in Chinese)
[24]闫野.卫星相对空间目标任意位置悬停的方法研究[J].中国空间科学技术,2009,29(1):1-5.YAN Ye.Study of hovering method at any selected position to space target[J].Chinese Space Science and Technology,2009,29(1):1-5.(in Chinese)
[25]Singla P,Subbarao K,Junkins J L.Adaptive output feedback control for spacecraft rendezvous and docking under measurement uncertainty[J].Journal of Guidance,Control,and Dynamics,2006,29(4):892-902.
[26]屠善澄.卫星姿态动力学与控制[M].北京:中国宇航出版社,2001.TU Shancheng.Attitude dynamics and control of satellite[M].Beijing:China Astronautic Publishing House,2001.(in Chinese)
[27]李士勇.模糊控制[M].哈尔滨:哈尔滨工业大学出版社,2011.LI Shiyong.Fuzzy control[M].Harbin:Harbin Institute of Technology Press,2011.(in Chinese)