拦截卫星末段拦截轨道的控制与规划方法研究
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摘要
随着空间技术的快速发展，空间攻防对抗技术已成为国际航天领域研究的热点。作为空间拦截方式之一的拦截卫星，其轨道的控制和规划是拦截任务成败的关键因素。不同于常规交会对接任务，拦截卫星的末段拦截轨道具有其特殊性，包括目标卫星的非合作性、逃逸性和防御性等。针对上述特殊性，本学位论文着重围绕拦截卫星末段拦截轨道的控制、确定和规划问题展开深入的研究，主要内容包括以下几部分：
提出了目标卫星无轨道机动时拦截卫星末段拦截轨道的鲁棒H∞控制方法。分别针对目标卫星轨道为圆轨道和椭圆轨道的情况，考虑参数不确定性和控制输入干扰，建立不确定系统模型；考虑输入受限、系统H∞性能、系统有限时间性能和极点区域配置等因素，研究多约束条件下的相对轨道鲁棒H∞控制器设计方法；以系统H∞性能为约束条件并以系统有限时间性能为优化目标，研究带饱和执行器的相对轨道鲁棒H∞控制器设计方法；仿真验证了控制器的有效性并对比分析了其控制性能。
提出了目标卫星逃逸特殊情况下的末段拦截轨道鲁棒控制方法。针对目标卫星存在轨道机动的情况，建立相应的拦截卫星相对轨道动力学模型；由于目标的非合作性，将目标卫星的轨道机动看作系统干扰，并同时考虑参数不确定性、控制输入干扰和饱和执行器，建立带饱和环节的不确定系统模型；分别以系统的EP增益、EE增益和混合EP/EE增益为约束条件，以系统有限时间性能为优化目标，给出了三类控制器的设计方法；仿真验证了三类控制器的有效性和鲁棒性，并对比分析了三类控制器的控制精度。
针对拦截卫星相对轨道运动模型具有不确定性以及非高斯噪声等特殊情况，基于鲁棒滤波理论提出了末段拦截轨道的确定算法。假设拦截卫星的轨道控制律是已知的并基于间接测量方式建立线性离散系统模型；分别以系统的H2性能、H∞性能以及混合H2/H∞性能为鲁棒滤波器设计的优化目标，给出了三类滤波器的设计方法；仿真验证了滤波器的有效性和鲁棒性，并对比分析了三类滤波器对末段拦截轨道的估计精度；仿真说明了在系统具有饱和执行器和目标卫星逃逸的特殊情况下混合H2/H∞鲁棒滤波器的有效性。
针对目标卫星的防御系统是由编队小卫星组成的特殊情况，基于遗传算法提出了末段拦截轨道的规划方法。根据编队小卫星的编队队形和防御半径建立路径规划的动态环境模型；提出了一种将动态环境模型转化为静态环境模型的方法，并在该静态环境模型基础上设计个体编码方式、适应度函数和遗传算子等，研究了静态环境模型中的路径规划方法；然后，在相对轨道控制律已知的条件下，研究了动态环境模型中基于遗传算法的路径规划方法；最后通过仿真验证了算法的有效性。
With the rapid development of space technology, it has become the researchfocus of aerospace field to develop space attack-defense confrontation technology inevery country. The intercepting spacecraft is one of space interceptors and its orbitalplanning and control is the key factor in the success of intercepting mission.However, the terminal intercepting orbit which is different from rendezvous hasparticularities, for example, the target spacecraft is non-cooperative and it hasescape capability and defense system. Based on these particularities, thisdissertation focuses on the control, determination, and planning of terminalintercepting orbit for the interceptor. The major contents of this dissertation areconsisted of the following parts.
Firstly, the robust H∞control method of terminal intercepting orbit is studiedwhen the target has no orbital maneuver. The uncertain system models of both circleorbit and elliptical orbit are established considering parametric uncertainty andcontrol input disturbance. The design method of robust H∞controller forintercepting orbit is proposed with multi-constraints including input constraint,system H∞performance, system finite-time performance, and poles assignment.Then the design method of robust H∞controller with saturation actuators isproposed taking system H∞performance as constraint and system finite-timeperformance as optimization index. The effectiveness of controller is validated andits control performance is analyzed by the simulation.
Secondly, the robust control method of terminal intercepting orbit is studiedunder the special condition that the target is escaping. The relative orbit dynamicmodel is established when the target has orbital maneuver. This orbital maneuver istreated as system disturbance because of the cooperative target. The uncertainsystem model is built with saturation actuators parametric uncertainty, and controlinput disturbance. Taking system finite-time performance as optimization index, thedesign methods of three controllers are proposed based on EP gain, EE gain, andEP/EE gain, respectively. The effectiveness and robustness of these controllers isvalidated and their accuracy is compared by the simulation.
Thirdly, the determination algorithm of terminal intercepting orbit is studiedbased on robust filtering theory considering the uncertainty of relative motion modeland non-Gaussian noise. Supposing that the orbital control law of interceptor isknown, the linear discrete system model is established based on indirectmeasurement. The design methods of three filters are proposed taking system H2performance, system H∞performance, and mixed H2/H∞performance as optimization index, respectively. The effectiveness and robustness of these filters isvalidated and their estimation accuracy is compared by the simulation. Then thesimulation with conditions of saturation actuators and escaping target are carried outand the effectiveness of mixed H2/H∞robust filter is analyzed.
Finally, the intercepting orbit planning method based on genetic algorithm isstudied when the target has a defense system consisting of formation satellites. Thedynamic environment model is built according to the formation configuration anddefense radius of formation satellites. The method transforming dynamicenvironment model into static environment model is proposed. Based on this staticmodel, the path planning method is proposed by designing the coding rule, fitnessfunction, and genetic operators. Then the path planning method in dynamicenvironment model is proposed with a known control law based on geneticalgorothm. The effectiveness of methods is validated by the simulation.
提出了目标卫星无轨道机动时拦截卫星末段拦截轨道的鲁棒H∞控制方法。分别针对目标卫星轨道为圆轨道和椭圆轨道的情况，考虑参数不确定性和控制输入干扰，建立不确定系统模型；考虑输入受限、系统H∞性能、系统有限时间性能和极点区域配置等因素，研究多约束条件下的相对轨道鲁棒H∞控制器设计方法；以系统H∞性能为约束条件并以系统有限时间性能为优化目标，研究带饱和执行器的相对轨道鲁棒H∞控制器设计方法；仿真验证了控制器的有效性并对比分析了其控制性能。
提出了目标卫星逃逸特殊情况下的末段拦截轨道鲁棒控制方法。针对目标卫星存在轨道机动的情况，建立相应的拦截卫星相对轨道动力学模型；由于目标的非合作性，将目标卫星的轨道机动看作系统干扰，并同时考虑参数不确定性、控制输入干扰和饱和执行器，建立带饱和环节的不确定系统模型；分别以系统的EP增益、EE增益和混合EP/EE增益为约束条件，以系统有限时间性能为优化目标，给出了三类控制器的设计方法；仿真验证了三类控制器的有效性和鲁棒性，并对比分析了三类控制器的控制精度。
针对拦截卫星相对轨道运动模型具有不确定性以及非高斯噪声等特殊情况，基于鲁棒滤波理论提出了末段拦截轨道的确定算法。假设拦截卫星的轨道控制律是已知的并基于间接测量方式建立线性离散系统模型；分别以系统的H2性能、H∞性能以及混合H2/H∞性能为鲁棒滤波器设计的优化目标，给出了三类滤波器的设计方法；仿真验证了滤波器的有效性和鲁棒性，并对比分析了三类滤波器对末段拦截轨道的估计精度；仿真说明了在系统具有饱和执行器和目标卫星逃逸的特殊情况下混合H2/H∞鲁棒滤波器的有效性。
针对目标卫星的防御系统是由编队小卫星组成的特殊情况，基于遗传算法提出了末段拦截轨道的规划方法。根据编队小卫星的编队队形和防御半径建立路径规划的动态环境模型；提出了一种将动态环境模型转化为静态环境模型的方法，并在该静态环境模型基础上设计个体编码方式、适应度函数和遗传算子等，研究了静态环境模型中的路径规划方法；然后，在相对轨道控制律已知的条件下，研究了动态环境模型中基于遗传算法的路径规划方法；最后通过仿真验证了算法的有效性。
With the rapid development of space technology, it has become the researchfocus of aerospace field to develop space attack-defense confrontation technology inevery country. The intercepting spacecraft is one of space interceptors and its orbitalplanning and control is the key factor in the success of intercepting mission.However, the terminal intercepting orbit which is different from rendezvous hasparticularities, for example, the target spacecraft is non-cooperative and it hasescape capability and defense system. Based on these particularities, thisdissertation focuses on the control, determination, and planning of terminalintercepting orbit for the interceptor. The major contents of this dissertation areconsisted of the following parts.
Firstly, the robust H∞control method of terminal intercepting orbit is studiedwhen the target has no orbital maneuver. The uncertain system models of both circleorbit and elliptical orbit are established considering parametric uncertainty andcontrol input disturbance. The design method of robust H∞controller forintercepting orbit is proposed with multi-constraints including input constraint,system H∞performance, system finite-time performance, and poles assignment.Then the design method of robust H∞controller with saturation actuators isproposed taking system H∞performance as constraint and system finite-timeperformance as optimization index. The effectiveness of controller is validated andits control performance is analyzed by the simulation.
Secondly, the robust control method of terminal intercepting orbit is studiedunder the special condition that the target is escaping. The relative orbit dynamicmodel is established when the target has orbital maneuver. This orbital maneuver istreated as system disturbance because of the cooperative target. The uncertainsystem model is built with saturation actuators parametric uncertainty, and controlinput disturbance. Taking system finite-time performance as optimization index, thedesign methods of three controllers are proposed based on EP gain, EE gain, andEP/EE gain, respectively. The effectiveness and robustness of these controllers isvalidated and their accuracy is compared by the simulation.
Thirdly, the determination algorithm of terminal intercepting orbit is studiedbased on robust filtering theory considering the uncertainty of relative motion modeland non-Gaussian noise. Supposing that the orbital control law of interceptor isknown, the linear discrete system model is established based on indirectmeasurement. The design methods of three filters are proposed taking system H2performance, system H∞performance, and mixed H2/H∞performance as optimization index, respectively. The effectiveness and robustness of these filters isvalidated and their estimation accuracy is compared by the simulation. Then thesimulation with conditions of saturation actuators and escaping target are carried outand the effectiveness of mixed H2/H∞robust filter is analyzed.
Finally, the intercepting orbit planning method based on genetic algorithm isstudied when the target has a defense system consisting of formation satellites. Thedynamic environment model is built according to the formation configuration anddefense radius of formation satellites. The method transforming dynamicenvironment model into static environment model is proposed. Based on this staticmodel, the path planning method is proposed by designing the coding rule, fitnessfunction, and genetic operators. Then the path planning method in dynamicenvironment model is proposed with a known control law based on geneticalgorothm. The effectiveness of methods is validated by the simulation.
引文
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