Teardrop hovering configuration control strategy based on piecewise constant thrust
-
摘要:
针对航天器编队飞行任务对相对运动控制的要求，研究了在分段常值推力控制下航天器受迫绕飞构型的设计与控制问题。首先，基于脉冲控制下的水滴悬停构型，提出了多段常值推力控制实现水滴悬停构型的打靶方程；将打靶方程转化为求解极值问题，采用最小二乘法来求解；分析了一段常值推力可行性。然后，以连续常值小推力控制方程为基础，推导了小邻域定理，分析了近距离相对运动条件下两段常值推力控制的可行性；针对可能出现求解精度差的问题，提出了小推力增量方程来修正精度，并证明在靠近理想解的情况下多次迭代可以趋近于理想解。最后，通过数值仿真实现常值小推力控制下的水滴悬停相对运动。数值仿真结果表明常值小推力控制策略可行，研究成果完善了航天器受迫绕飞构型设计与控制的相关理论，为工程应用提供参考。
Abstract:In order to meet the requirements of relative motion control for spacecraft formation flying missions, design and control of spacecraft's forced fly-around formation under the control of piecewise constant thrust are investigated. For teardrop hovering configuration under pulse control, a multi-level constant thrust control strategy is proposed. The shooting equation is transformed into the solution of the extreme value problem, and the least square method is used to solve it. In this paper, constant thrust feasibility is also analyzed. Based on continuous constant small-thrust control equations, the small neighborhood theorem is deduced, and the feasibility of two-segment constant thrust control is analyzed in near-distance relative motion. In addition, a small-thrust increment equation is proposed to improve the solution accuracy, and it is proved that multiple iterations can precisely approximate the ideal solution. Finally, numerical simulations show that a constant small-thrust control strategy is feasible for the teardrop hovering relative motion. The theory of spacecraft forced fly-around design and control is enriched, and the results provide a reference for engineering applications.
-
表 1 未修正两段常值推力结果
Table 1. Results of unmodified two-segment constant thrust
推力/(m·s-2) μ1 μ2 ft 0.006 796 -0.006 789 fn -0.018 311 -0.018 306 8 fh 0 0 
下载: 导出CSV
表 2 修正后两段常值推力结果
Table 2. Results of modified two-segment constant thrust
推力/(m·s-2) μ1 μ2 ft 0.005 074 -0.005 080 fn -0.021 028 -0.021 026 fh 0 0
下载: 导出CSV
-
[1] 张玉锟.卫星编队飞行的动力学与控制技术研究[D].长沙: 国防科技大学, 2002. http://cdmd.cnki.com.cn/Article/CDMD-90002-2003097665.htmZHANG Y K.Research on dynamics and control technology of satellite formation flying[D].Changsha: National University of Defense Technology, 2002(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-90002-2003097665.htm [2] 崔乃刚, 王平, 郭继峰, 等.空间在轨服务技术发展综述[J].宇航学报, 2007, 28(4):805-811. doi: 10.3321/j.issn:1000-1328.2007.04.005CUI N G, WANG P, GUO J F, et al.A review of on-orbit servicing[J].Journal of Astronautics, 2007, 28(4):805-811(in Chinese). doi: 10.3321/j.issn:1000-1328.2007.04.005 [3] 张雅声, 程文华."女娲"计划:面向地球静止轨道的在轨服务系统[J].装备学院学报, 2017, 28(2):40-45. doi: 10.3783/j.issn.2095-3828.2017.02.009ZHANG Y S, CHENG W H.Nu Wa project:On-orbit-service system for GEO[J].Journal of Equipment Academy, 2017, 28(2):40-45(in Chinese). doi: 10.3783/j.issn.2095-3828.2017.02.009 [4] 汪新亮.在轨服务飞行器转移轨道设计及制导方法研究[D].长沙: 国防科技大学, 2014. http://cdmd.cnki.com.cn/Article/CDMD-90002-1016921219.htmWANG X L.Study on transfer orbit optimization and guidance methods of on-orbit service vehicle[D].Changsha: National University of Defense Technology, 2014(in Chinese). http://cdmd.cnki.com.cn/Article/CDMD-90002-1016921219.htm [5] 陈小前, 袁建平, 兆雯, 等.航天器在轨服务技术(精)[M].北京:中国宇航出版社, 2009.CHEN X Q, YUAN J P, ZHAO W, et al.Spacecraft on-orbit service technology[M].Beijing:China Aerospace Press, 2009(in Chinese). [6] 梁斌, 徐文福, 李成, 等.地球静止轨道在轨服务技术研究现状与发展趋势[J].宇航学报, 2010, 31(1):1-13. doi: 10.3873/j.issn.1000-1328.2010.01.001LIANG B, XU W F, LI C, et al.The status and prospect of orbital servicing in the geostationary orbit[J].Journal of Astronautics, 2010, 31(1):1-13(in Chinese). doi: 10.3873/j.issn.1000-1328.2010.01.001 [7] 赵书阁, 张景瑞.航天器共面圆型快速绕飞控制研究[J].航天控制, 2014, 32(1):68-72. doi: 10.3969/j.issn.1006-3242.2014.01.013ZHAO S G, ZHANG J R.Study on spacecraft coplanar circular fast flight control[J].Aerospace Control, 2014, 32(1):68-72(in Chinese). doi: 10.3969/j.issn.1006-3242.2014.01.013 [8] 林来兴.小卫星围绕空间站飞行动力学和控制研究[J].中国空间科学技术, 1999, 19(6):1-6. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK199900822633LIN L X.A study on dynamics and control of small satellite flying around Space station[J].Chinese Space Science and Technology, 1999, 19(6):1-6(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=QK199900822633 [9] 师鹏, 李保军, 赵育善.有限推力下的航天器绕飞轨道保持与控制[J].北京航空航天大学学报, 2007, 33(7):757-760. doi: 10.3969/j.issn.1001-5965.2007.07.002SHI P, LI B J, ZHAO Y S.Orbital maintenance and control of spacecraft fly-around with finite-thrust[J].Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(7):757-760(in Chinese). doi: 10.3969/j.issn.1001-5965.2007.07.002 [10] 潘屹.航天器相对运动水滴型悬停轨道研究[J].航天器工程, 2014, 23(4):13-18. doi: 10.3969/j.issn.1673-8748.2014.04.003PAN Y.Study on spacecraft relative drip-drop hovering orbit[J].Spacecraft Engineering, 2014, 23(4):13-18(in Chinese). doi: 10.3969/j.issn.1673-8748.2014.04.003 [11] STRAIGHT S D, TRAGESSER S G, HOWARD R, et al.Maneuver design for fast satellite circumnavigation[C]//AAS/AIAA 14th Space Flight Mechanics Meeting, 2004. [12] HOPE A S, TRASK A J.Pulsed-thrust method for hover formation flying[C]//Proceedings of AAS/AIAA Astrodynamics Specialists Conference.San Diego, CA: Univelt.Inc., 2008: 1-11. [13] LOVELL T A, TOLLEFSON M V.Calculation of impulsive hovering trajectories via relative orbit elements[J].Advances in the Astronautical Sciences, 2006, 123(3):2533-2548. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=CC027145755 [14] RAO Y R, YIN J F, HAN C.Hovering formation design and control based on relative orbit elements[J].Journal of Guidance, Control, and Dynamics, 2015, 152(2):1-12. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=683c425fda5aa2495770c59259a90172 [15] 王功波, 孟云鹤, 郑伟, 等.快速绕飞卫星空间圆编队设计方法[J].宇航学报, 2010, 31(11):2465-2470. doi: 10.3873/j.issn.1000-1328.2010.11.005WANG G B, MENG Y H, ZHENG W, et al.Space round formation design method for fast flying satellites[J].Journal of Astronautics, 2010, 31(11):2465-2470(in Chinese). doi: 10.3873/j.issn.1000-1328.2010.11.005 [16] 罗建军, 杨宇和, 袁建平.共面快速受控绕飞轨迹设计与控制[J].宇航学报, 2006, 27(6):1389-1392. doi: 10.3321/j.issn:1000-1328.2006.06.054LUO J J, YANG Y H, YUAN J P.Trajectory design and control for fast coplanar controlled flying[J].Journal of Astronautics, 2006, 27(6):1389-1392(in Chinese). doi: 10.3321/j.issn:1000-1328.2006.06.054 [17] 朱小龙, 刘迎春, 高扬.航天器最优受控绕飞轨迹推力幅值延拓设计方法[J].力学学报, 2014, 46(5):756-769. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=lxxb201405012ZHU X L, LIU Y C, GAO Y.Thrust-amplitude continuation design approach for solving[J].Chinese Journal of Theoretical and Applied Mechanics, 2014, 46(5):756-769(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=lxxb201405012 [18] 张冉, 殷建丰, 韩潮.航天器受迫绕飞构型设计与控制[J].北京航空航天大学学报, 2017, 43(10):2030-2039. http://bhxb.buaa.edu.cn/CN/abstract/abstract14212.shtmlZHANG R, YIN J F, HAN C.Spacecraft forced fly-around formation design and control[J].Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(10):2030-2039(in Chinese). http://bhxb.buaa.edu.cn/CN/abstract/abstract14212.shtml [19] 饶殷睿, 韩潮, 殷建丰, 等.航天器悬停构型设计与控制方法[J].航空学报, 2015, 36(7):2361-2371. http://d.old.wanfangdata.com.cn/Periodical/hkxb201507028RAO Y R, HAN C, YIN J F, et al.Method of spacecraft hovering formation design and control[J].Acta Aeronautica et Astronautica Sinica, 2015, 36(7):2361-2371(in Chinese). http://d.old.wanfangdata.com.cn/Periodical/hkxb201507028 [20] 李鉴.连续推力轨道机动优化方法研究[D].北京: 北京航空航天大学, 2013.LI J.Research on continuous thrust orbit maneuver optimization method[D].Beijing: Beihang University, 2013(in Chinese). -
下载:
点击查看大图
计量
- 文章访问数: 702
- HTML全文浏览量: 100
- PDF下载量: 384
- 被引次数: 0
