Abstract：Aimed at the relative position cooperative control problem of electromagnetic spacecraft formation flight，an adaptive cooperative controller was designed based on the consensus theory. Firstly, primary principles and accurate nonlinear dynamics equation of the relative motion of electromagnetic spacecraft formation were discussed. The relative motion dynamics model was then amended considering the uncertainties of the electromagnetic distant field calculation model. Secondly, nonlinear adaptive cooperative control laws for formation station tracking were designed under the condition of electromagnetic model uncertainty and communication delay among spacecraft. Solutions of magnetic moment allocation by utilizing optimization method were developed according to the difference of the maximum magnetic moments that electromagnetic spacecraft can produce. Finally, simulation shows that the adaptive cooperative controller is effective, and compared with artificial potential function method, the ability of maintaining the instantaneous stability of formation shape is improved by 4.9 times. The allocation method of magnetic moments has also achieved reasonable results.
连克非, 董云峰. 电磁航天器编队位置跟踪自适应协同控制[J]. 北京航空航天大学学报, 2017, 43(10): 2154-2162.
LIAN Kefei, DONG Yunfeng. Adaptive cooperative control for electromagnetic spacecraft formation flight position tracking. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2017, 43(10): 2154-2162.
[1] 张博,罗建军,袁建平.一种基于信息一致性的卫星编队协同控制策略[J].航空学报,2010,31(5):1004-1013.ZHANG B,LUO J J,YUAN J P.A satellite formation cooperative control strategy based on information consensus[J].Acta Aeronautica et Astronautic Sinica,2010,31(5):1004-1013(in Chinese).
[2] 王龙,杨乐平,许军校.电磁编队飞行与电磁交会对接关键技术及进展[J].装备指挥技术学院学报,2009,20(1):74-78.WANG L,YANG L P,XU J X.The key technology and development of electromagnetic formation flight and electromagnetic rendezvous docking[J].Journal of Academy of Equipment Command & Technology,2009,20(1):74-78(in Chinese).
[3] KONG E M C,KWON D W,SCHWEIGHART S A,et al.Electromagnetic formation flight for multisatellite arrays[J].Journal of Spacecraft and Rockets,2004,41(4):659-666.
[4] MILLER D W,SEDWICK R J.Electromagnetic formation flight phase I report[R].Boston:Massachusetts Institute of Technology,2003.
[5] AHSUN U,MILLER D W,RAMIREZ J L.Control of electromagnetic satellite formations in near-earth orbits[J].Journal of Guidence,Control and Dynamics,2010,33(6):1883-1891.
[6] ELIAS L M.Dynamics of multi-body space interferometers including reaction wheel gyroscopic stiffening effects:Structurally connected and electromagnetic formation flying architectures[D].Boston:Massachusetts Institute of Technology,2004.
[7] AHSUN U.Dynamics and control of electromagnetic satellite formations[D].Boston:Massachusetts Institute of Technology,2007.
[8] 苏建敏,董云峰.利用人工势函数法的卫星电磁编队控制[J].北京航空航天大学学报,2012,38(2):213-217.SU J M,DONG Y F.Artificial potential function method for satellite electromagnetic formation control[J].Journal of Beijing University of Aeronautics and Astronautics,2012,38(2):213-217(in Chinese).
[9] 徐增文,师鹏,赵育善.双电磁航天器编队构型保持自适应控制[J].北京航空航天大学学报,2015,41(12):2302-2308.XU Z W,SHI P,ZHAO Y S.Adaptive control for two-spacecraft electromagnetic formation keeping[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(12):2302-2308(in Chinese).
[10] 邵龙飞,师鹏,赵育善.电磁航天器编队动力学建模与运动规划方法[J].北京航空航天大学学报,2015,41(4):737-743.SHAO L F,SHI P,ZHAO Y S.Dynamics modeling and motion programming for electromagnetic formation flight[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(4):737-743(in Chinese).
[11] SCHWEIGHART S A.Electromagnetic formation flight dipole solution planning[D].Boston:Massachusetts Institute of Technology,2005.
[12] 黄涣,杨乐平,朱彦伟,等.双星电磁编队的动力学平衡态稳定性与控制[J].国防科技大学学报,2013,35(3):12-17.HUANG H,YANG L P,ZHU Y W,et al.Stability and control of dunamics equilibrium for two-spacecraft electromagnetic formation[J].Journal of National University of Defense Technology,2013,35(3):12-17(in Chinese).
[13] 张保群,宋申民,陈兴林.带时延和拓扑切换的编队卫星鲁棒协同控制[J].宇航学报,2012,33(7):910-919.ZHANG B Q,SONG S M,CHEN X L.Robust coordinated control for formation flying satellites with time delays and switching topologies[J].Journal of Astronautics,2012,33(7):910-919(in Chinese).
[14] 毕鹏,罗建军,张博.一种基于一致性理论的航天器编队飞行协同控制方法[J].宇航学报,2010,31(1):70-74.BI P,LUO J J,ZHANG B.Cooperate control algorithm for spacecraft formation flying based on consensus theory[J].Journal of Astronautics,2010,31(1):70-74(in Chinese).
[15] 马广富,梅杰.多星系统相对轨道的自适应协同控制[J].控制理论与应用,2011,28(6):781-787.MA G F,MEI J.Adaptive cooperative control for relative orbits of multi-satellite systems[J].Control Theory & Applications,2011,28(6):781-787(in Chinese).
[16] 郑重,宋申民.考虑避免碰撞的编队卫星自适应协同控制[J].航空学报,2013,34(8):1934-1943.ZHENG Z,SONG S M.Adaptive coordination control of satellites within formation considering collision avoidance[J].Acta Aeronautica et Astronautica Sinica,2013,34(8):1934-1943(in Chinese).
[17] SU J M,DONG Y F.Gathering the fractionated electromagnetic satellites cluster by simulating fish school[J].Aircraft Engineering and Aerospace Technology,2012,84(2):115-119.
[18] KRISTIANSEN R,NICKLASSON P J,GRAVDAHL J T.Formation modelling and 6DOF spacecraft coordination control[C]//Proceedings of the 2007 American Control Conference.Piscataway,NJ:IEEE Press,2007:4690-4696.
[19] KRSTIC M,KANELLAKOPOULOS I,KOKOTOVIC P.Nonlinear and adaptive control design[M].New York:John Wiley & Sons,Inc.,1995:490-491.
[20] 章仁伟.卫星轨道姿态动力学与控制[M].北京:北京航空航天大学出版社,1998:50-51.ZHANG R W.Orbit and attitude dynamics and control of satellite[M].Beijing:Beihang University Press,1998:50-51(in Chinese).
[21] ZHANG B Q,SONG S M.Decentralized coordinated control for multiple spacecraft formation maneuver[J].Acta Astronautica,2012,74:79-97.
2017, Vol. 43 
