航天器交会最终逼近段相对姿态估计与控制

朱仁璋; 林彦

航天器交会最终逼近段相对姿态估计与控制

朱仁璋,
林彦

北京航空航天大学宇航学院, 北京 100083

详细信息

作者简介:
朱仁璋(1941-),男,江苏扬州人,教授,rz_zhu@tom.com.

中图分类号: V 448.22
计量
- 文章访问数: 2930
- HTML全文浏览量: 39
- PDF下载量: 1071
- 被引次数: 0
出版历程
- 收稿日期: 2006-06-15
- 网络出版日期: 2007-05-31

Relative attitude estimation and control schemes for the final approach phase of spacecraft rendezvous

School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

摘要

摘要: 对航天器交会对接最终逼近段,给出姿态运动学方程统一形式以及相对姿态动力学方程;除了应用交会航天器的绝对姿态运动方程进行相对姿态估计(间接法)外,还直接应用相对姿态运动方程进行相对姿态估计(直接法);阐述相对姿态控制的相平面法与四元数反馈法的设计方法.相平面控制法应用常值推力,针对小姿态角机动的特点,将相对姿态通道解耦为3个独立的二阶子系统,设计相平面推力方向切换函数;四元数反馈法应用简化的基于本征轴旋转的线性二阶系统,选择相对四元数与角速率反馈增益系数,确定控制力矩.此外,对相对姿态估计与控制方法进行模拟计算与比较.理论分析与模拟计算结果表明:应用扩展Kalman滤波的相对姿态间接估计法与直接估计法是有效的,后者有可能简化估计算法;相平面控制法与四元数反馈法均可有效实现相对姿态控制,前者应用常值推力(推力方向与姿态反馈有关),较易实现,但动力消耗较大,后者按控制力矩随姿态反馈量而变,动力消耗较小.
- 航天器交会 /
- Kalman滤波 /
- 控制系统
Abstract: Motion equations of relative attitude between the target and chase spacecraft were elaborated for the final approach phase of spacecraft rendezvous and docking. Two algorithms of extended Kalman filtering based on vision observations were used to estimate relative attitude, one is through attitude estimation of the target, and the other is directly using motion equations of relative attitude. And two control schemes were presented to execute the relative attitude control. One of them is the phase plane control method by using constant control moment and optimal damping, in which the attitude control system can be simplified into three independent two-order systems to obtain the switching function, and the other is based on the quaternion feedback control, using eigenaxis rotation and linear two-order system to design feedback gain coefficients. The phase plane control method is relatively simple but needs more consumption than the quaternion feedback control.
- spacecraft rendezvous /
- Kalman filtering /
- control systems

HTML全文

参考文献(1)

[1] Philip N K, Ananthasayanam M R. Relative position and attitude estimation and control schemes for the final phase of an autonomous docking mission of spacecraft[J]. Acta Astronautica, 2003,52(7):511-522 [2] 朱仁璋,尹艳. 论空间交会最终平移段制导设计[J]. 中国空间科学技术,2004, 24(5):1-8 Zhu Renzhang, Yin Yan. Guidance strategy design for the final translation of space rendezvous[J]. Chinese Space Science and Technology, 2004, 24(5):1-8(in Chinese) [3] 朱仁璋,林彦,张磊. 航天器交会计算机视觉系统测距求解新算法[J]. 北京航空航天大学学报,2006, 32(7):764-768 Zhu Renzhang, Lin Yan, Zhang Lei. A new algorithm of solving for ranges in determining relative states using computer vision system during the final translation phase of spacecraft rendezvous and docking[J]. Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(7):764-768(in Chinese) [4] Calboun P, Dabney R. A solution to the problem of determining the relative 6DOF state for spacecraft automated rendezvous and docking Fowski W J, Birnbaum M M. Proceedings of SPIE Space Guidance, Control and Tracking II. Orlando, USA:SPIE, 1995:175-184 [5] Fehse W. Automated rendezvous and docking of spacecraft[M]. Cambridge:Cambridge University Press, 2003:171-180 [6] Lefferts E J, Markley F L, Shuster M D. Kalman filtering for spacecraft attitude estimation[J]. Journal of Guidance, Control, and Dynamics, 1982, 5(5):417-429 [7] Wertz J R. Spacecraft attitude determination and control[M]. Dordrecht:D Reidel Publishing Company, 1978 [8] Hale M J, Vergez P, Meerman M J, et al. Kalman filtering and the attitude determination and control task . AIAA-2004-6018, 2004 [9] Wie B, Weiss H, Arapostathis A. Quaternion feedback regulator for spacecraft eigenaxis rotations[J]. Journal of Guidance, Control, and Dynamics, 1989, 12(3):375-380 [10] Claudinon B, Marchal Ph, Fehse W. Control techniques for rendezvous and docking Matra S A. Automatic Control in Space. Toulouse, France:Pergamon Press, 1986:287-294 [11] Maybeck P S. Stochastic models, estimation and control[M]. New York:Academic Press Inc, 1982

施引文献

资源附件(0)

访问统计