卫星编队飞行动力学建模与控制技术研究
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摘要
卫星编队飞行技术是空间技术的一个重要发展方向,卫星编队飞行相对运动控制技术是实现卫星编队飞行的关键技术之一。卫星编队飞行相对轨道运动和相对姿态运动控制系统的性能不仅取决于控制系统硬件的性能与精度,还与其所采用的控制算法密切相关。本文从动力学和控制的角度研究卫星编队飞行的相对轨道构形保持控制和相对姿态控制。
本文对比分析了卫星编队飞行的较一般非线性相对轨道运动模型与线性化模型以及C-W方程之间的模型误差。基于非线性相对轨道运动模型,研究了卫星编队飞行构形保持的非线性鲁棒控制方法,分别采用幂次趋近律、带边界层的幂次趋近律、指数趋近律和神经网络与指数趋近律相结合的滑模变结构控制方法设计了相对轨道构形保持控制律。
推导了卫星编队飞行的相对姿态动力学和运动学模型,该模型描述了卫星编队飞行过程中伴随星本体坐标系相对主星本体坐标系的相对姿态运动情况。基于相对姿态运动模型,分别采用滑模变结构控制方法和反步法设计了全状态反馈的相对姿态控制律。考虑编队卫星的载荷限制,以及角速度测量设备价格昂贵、易损坏等因素,论文提出了两种通过设计观测器来实现无角速度测量的相对姿态控制方法。第一种方法利用反步法设计角速度观测器来直接估计角速度变量;第二种方法通过设计微分观测器来间接地获得角速度。从减少星间通信量的角度考虑,论文还研究了卫星编队飞行相对姿态的神经网络参数自适应控制,通过神经网络的训练学习,来估计模型中的部分参数。
分析了卫星编队飞行相对轨道运动和相对姿态运动之间的耦合关系,建立了卫星编队飞行的耦合六自由度动力学模型。基于该模型,分别提出了卫星编队飞行的六自由度全状态反馈控制方法和基于观测器的六自由度控制方法。
研究了非合作目标编队飞行的相对轨道的运动特点,建立了非合作目标编队飞行的相对轨道运动动力学模型。考虑到非合作目标编队飞行的目标星不会主动提供相关的模型参数,提出了非合作目标编队飞行相对轨道构形保持的参数自适应控制方法,分别采用反步法和李雅普诺夫方法设计了参数自适应控制律。
论文以两颗卫星组成的主从式结构的卫星编队飞行为背景,对所设计的控制律进行了数学仿真验证。仿真结果表明:滑模变结构控制能够在设定的时间内实现任务要求的控制目标,且对模型不确定性和模型参数变化具有较好的鲁棒性。论文中所设计的观测器均能在1000秒以内实现对真实状态的准确观测,从而保证了在某些系统状态无法测量的情况下的编队飞行相对运动控制。对非合作目标编队飞行,即使在无目标星的相应反馈信息的情况下,论文中设计的参数自适应控制方法仍然能够完成任务要求的相对轨道构形保持控制。
Satellite formation flying (SFF) is an enabling technology for future space science mission. The control of relative states of a formation is one of the key technologies that maintain satellite formation. The control performances of relative position and relative attitude are not only decided by the quality of the hardware, but also depend on the control algorithms. In this thesis, the control algorithms used to maintain the desired relative position and desired relative attitude of SFF were studied from aspects of dynamics and control.
The model errors between the general nonlinear model of relative orbit motion for SFF、linearized model and C-W equations were analyzed. Based on the general nonlinear model, nonlinear robust control methods which adopted sliding mode control basede on power reaching law、power reaching law with boundary layer、exponential reaching law and exponential reaching law combined with neural network were designed respectively.
The dynamics and kinematics models of relative attitude of SFF were derived to describe the relative motion between the body coordinate of the leader and the follower’s body coordinate. Based on the relative attitude model, two control laws were derived from sliding mode control and integrator backstepping control respectively. Due to the load limits of satellite in a formation, as well as the angular velocity measuring equipment is expensive and easy to damage, control algorithms based on state observer were studied. One method was to design the observer using integrator backstepping method to get the angular velocity directively. And another is to design a differential observer to caculate the angular velocity from the observed state. In order to reduce the comunication between satellites in a formation, a parameters adaptive control combined neural network is deduced. The neural network is trained to estimate some parameters of the model.
The coupled relationship between the relative orbit motion and the relative attitude was analyzed. And the 6-DOF coupled dynamic model was derived. Based on coupled dynamic model, the SFF 6-DOF full-state feedback control method and observer-based control methods were studied respectively.
The characteristics of the relative orbit motion of uncooperative formation flying were also studied, and the relative model was established. Consider that the target satellite in the uncooperative formation would not actively provide us the parameters in the model which is related to it, the parameters adaptive control algorithms based on integrator backstepping and Lyapunov theory were derived respectively.
In order to show the effectiveness of the control law designed in this thesis, the satellite formation flying composed of two satellites called Leader-Follower satellite formation was used to simulate. The simulation results denoted that: Sliding mode control can achieve the task requirement within the set time. And sliding mode control has good robustness against the model uncertainty and model parameters’variation. All the observers designed in this thesis could track the real state accurately less than 1000 seconds, which was a guarantee to the control of relative motion for SFF without some state measurement. For the uncooperative formation flying, the adaptive control law can complete the task even without information feedback from the target satellite.
本文对比分析了卫星编队飞行的较一般非线性相对轨道运动模型与线性化模型以及C-W方程之间的模型误差。基于非线性相对轨道运动模型,研究了卫星编队飞行构形保持的非线性鲁棒控制方法,分别采用幂次趋近律、带边界层的幂次趋近律、指数趋近律和神经网络与指数趋近律相结合的滑模变结构控制方法设计了相对轨道构形保持控制律。
推导了卫星编队飞行的相对姿态动力学和运动学模型,该模型描述了卫星编队飞行过程中伴随星本体坐标系相对主星本体坐标系的相对姿态运动情况。基于相对姿态运动模型,分别采用滑模变结构控制方法和反步法设计了全状态反馈的相对姿态控制律。考虑编队卫星的载荷限制,以及角速度测量设备价格昂贵、易损坏等因素,论文提出了两种通过设计观测器来实现无角速度测量的相对姿态控制方法。第一种方法利用反步法设计角速度观测器来直接估计角速度变量;第二种方法通过设计微分观测器来间接地获得角速度。从减少星间通信量的角度考虑,论文还研究了卫星编队飞行相对姿态的神经网络参数自适应控制,通过神经网络的训练学习,来估计模型中的部分参数。
分析了卫星编队飞行相对轨道运动和相对姿态运动之间的耦合关系,建立了卫星编队飞行的耦合六自由度动力学模型。基于该模型,分别提出了卫星编队飞行的六自由度全状态反馈控制方法和基于观测器的六自由度控制方法。
研究了非合作目标编队飞行的相对轨道的运动特点,建立了非合作目标编队飞行的相对轨道运动动力学模型。考虑到非合作目标编队飞行的目标星不会主动提供相关的模型参数,提出了非合作目标编队飞行相对轨道构形保持的参数自适应控制方法,分别采用反步法和李雅普诺夫方法设计了参数自适应控制律。
论文以两颗卫星组成的主从式结构的卫星编队飞行为背景,对所设计的控制律进行了数学仿真验证。仿真结果表明:滑模变结构控制能够在设定的时间内实现任务要求的控制目标,且对模型不确定性和模型参数变化具有较好的鲁棒性。论文中所设计的观测器均能在1000秒以内实现对真实状态的准确观测,从而保证了在某些系统状态无法测量的情况下的编队飞行相对运动控制。对非合作目标编队飞行,即使在无目标星的相应反馈信息的情况下,论文中设计的参数自适应控制方法仍然能够完成任务要求的相对轨道构形保持控制。
Satellite formation flying (SFF) is an enabling technology for future space science mission. The control of relative states of a formation is one of the key technologies that maintain satellite formation. The control performances of relative position and relative attitude are not only decided by the quality of the hardware, but also depend on the control algorithms. In this thesis, the control algorithms used to maintain the desired relative position and desired relative attitude of SFF were studied from aspects of dynamics and control.
The model errors between the general nonlinear model of relative orbit motion for SFF、linearized model and C-W equations were analyzed. Based on the general nonlinear model, nonlinear robust control methods which adopted sliding mode control basede on power reaching law、power reaching law with boundary layer、exponential reaching law and exponential reaching law combined with neural network were designed respectively.
The dynamics and kinematics models of relative attitude of SFF were derived to describe the relative motion between the body coordinate of the leader and the follower’s body coordinate. Based on the relative attitude model, two control laws were derived from sliding mode control and integrator backstepping control respectively. Due to the load limits of satellite in a formation, as well as the angular velocity measuring equipment is expensive and easy to damage, control algorithms based on state observer were studied. One method was to design the observer using integrator backstepping method to get the angular velocity directively. And another is to design a differential observer to caculate the angular velocity from the observed state. In order to reduce the comunication between satellites in a formation, a parameters adaptive control combined neural network is deduced. The neural network is trained to estimate some parameters of the model.
The coupled relationship between the relative orbit motion and the relative attitude was analyzed. And the 6-DOF coupled dynamic model was derived. Based on coupled dynamic model, the SFF 6-DOF full-state feedback control method and observer-based control methods were studied respectively.
The characteristics of the relative orbit motion of uncooperative formation flying were also studied, and the relative model was established. Consider that the target satellite in the uncooperative formation would not actively provide us the parameters in the model which is related to it, the parameters adaptive control algorithms based on integrator backstepping and Lyapunov theory were derived respectively.
In order to show the effectiveness of the control law designed in this thesis, the satellite formation flying composed of two satellites called Leader-Follower satellite formation was used to simulate. The simulation results denoted that: Sliding mode control can achieve the task requirement within the set time. And sliding mode control has good robustness against the model uncertainty and model parameters’variation. All the observers designed in this thesis could track the real state accurately less than 1000 seconds, which was a guarantee to the control of relative motion for SFF without some state measurement. For the uncooperative formation flying, the adaptive control law can complete the task even without information feedback from the target satellite.
引文
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