电磁航天器编队悬停鲁棒协同控制方法

张亚博; 师鹏; 张皓; 赵育善

doi:10.13700/j.bh.1001-5965.2018.0282

电磁航天器编队悬停鲁棒协同控制方法

doi: 10.13700/j.bh.1001-5965.2018.0282

张亚博¹,
师鹏^1, ,,
张皓²,
赵育善¹

1.
北京航空航天大学宇航学院, 北京 100083
2.
中国科学院空间应用工程与技术中心中国科学院太空应用重点实验室, 北京 100094

基金项目:

国家自然科学基金 11572019

中国科学院太空应用重点实验室开放基金 LSU-2016-07-02

中国科学院百人计划

详细信息

作者简介:
张亚博  男, 硕士研究生。主要研究方向:航天器动力学与控制、卫星编队飞行技术

师鹏  男, 博士, 讲师, 硕士生导师。主要研究方向:航天器总体设计、航天器动力学与控制

张皓  男, 博士, 副研究员, 硕士生导师。主要研究方向:航天器动力学与控制

赵育善  男, 博士, 教授, 博士生导师。主要研究方向:航天器动力学与控制

通讯作者:
师鹏, E-mail: shipeng@buaa.edu.cn

中图分类号: V412.4
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- 被引次数: 0
出版历程
- 收稿日期: 2018-05-18
- 录用日期: 2018-07-05
- 网络出版日期: 2019-02-20

A robust coordinated control method for hovering of electromagnetic spacecraft formation

1.
School of Astronautics, Beihang University, Beijing 100083, China
2.
Key Laboratory of Space Utilization, Technology and Engineering Center for Space Utilization, Chinese Academy of Sciences, Beijing 100094, China

Funds:

National Natural Science Foundation of China 11572019

the Open Research Fund of Key Laboratory of Space Utilization of Chinese Academy of Sciences LSU-2016-07-02

100 Talents Program of the Chinese Academy of Sciences

More Information

Corresponding author: SHI Peng, E-mail: shipeng@buaa.edu.cn

摘要

摘要:
针对电磁航天器编队近地轨道悬停问题，提出一种在缺少参考轨道准确信息时的协同控制方法。用TH方程描述航天器间的相对运动，选择与参考轨道同周期的圆轨道为标称轨道。将参考轨道相对于标称圆轨道的偏差、地球非球形引力、大气阻力及其他天体引力等参数单独归类，视其为不确定量，构成不确定系统。通过引入一致性理论，在电磁作用模型和动力学方程均存在不确定性的条件下，针对航天器编队悬停的目标设计了鲁棒协同控制律。考虑能量消耗最优和均衡以及轨道姿态解耦，给出了通过优化进行磁矩配置的方案。仿真结果表明，所设计的鲁棒协同控制律能够实现编队电磁航天器高精度悬停，所给出的磁矩配置方案能够实现磁矩的合理分配。
- 电磁航天器 /
- 编队飞行 /
- 一致性协议 /
- 鲁棒控制 /
- 悬停
Abstract:
Aimed at the problem of near-Earth orbit hovering of electromagnetic spacecraft formation, a coordinated control method is proposed in the absence of accurate information of reference orbit. The relative motion between spacecraft is described by the TH equation, and the circular orbit of the same cycle as the reference orbit is selected as the nominal orbit. The deviation of the reference orbit from the nominal circular orbit, the Earth's non-spherical gravity, the atmospheric resistance and the other celestial gravitation are classified separately, and they are considered as uncertain and constitute an uncertain system. By introducing the consistency theory, the robust coordinated control law is designed for the target of spacecraft formation hovering under the condition that the electromagnetic action model and the dynamic equation are all uncertain. Considering the optimal and balanced energy consumption and the decoupling of orbital attitude, a scheme of magnetic moment distribution through optimization is given. The simulation results show that the designed robust coordinated control law can achieve high-precision hovering of electromagnetic spacecraft formation. The proposed magnetic moment configuration scheme can realize the rational distribution of magnetic moments.
- electromagnetic spacecraft /
- formation flying /
- consistency protocol /
- robust control /
- hovering

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图 1 电磁线圈相互作用示意图

Figure 1. Schematic diagram of electromagnetic coil interaction

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图 2 磁偶极子相互作用示意图

Figure 2. Schematic diagram of magnetic dipole interaction

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图 3 航天器编队悬停参考系

Figure 3. Spacecraft formation hovering coordinate system

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图 4 电磁航天器悬停编队构型

Figure 4. Hovering formation configuration of electromagnetic spacecraft

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图 5 AB相对位置跟踪误差曲线

Figure 5. Tracking error curves of AB relative position

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图 6 CD相对位置跟踪误差曲线

Figure 6. Tracking error curves of CD relative position

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图 7 AB相对速度跟踪误差曲线

Figure 7. Tracking error curves of AB relative velocity

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图 8 CD相对速度跟踪误差曲线

Figure 8. Tracking error curves of CD relative velocity

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图 9 控制磁矩曲线

Figure 9. Curves of control magnetic moment

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图 10 电磁力曲线

Figure 10. Curves of electromagnetic force

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图 11 编队悬停外力曲线

Figure 11. Curve of formation hovering external force

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图 12 暂态构型维持位置误差曲线

Figure 12. Curve of transient configuration position keeping error

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图 13 能量消耗对比

Figure 13. Comparison of energy consumption

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表 1 参考轨道参数

Table 1. Reference orbital parameters

轨道参数	数值
a/km	7 371
e	0.01
i/(°)	45
Ω/(°)	45
ω/(°)	30
θ/(°)	0

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表 2 状态初值信息

Table 2. Initial value information of state

参数	期望值X	初始摄动值δx
位置/m		5×rand(-1, 1), rand(-1, 1)表示(-1, 1)区间的随机数
速度/ (m·s^-1)	[0 0 0]	0.01×rand(-1, 1)

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