Rendezvous and docking six-degree-of-freedom relative control method

Abstract

The invention relates to a rendezvous and docking six-degree-of-freedom relative control method. Firstly, dynamics modeling is performed on relative horizontal moving and relative rotation moving and then, the PI control law is adopted for designing an approaching direction (X direction) relative speed keeping controller and the PD control law is adopted for designing a horizontal position (Y / Z direction) keeping controller; the PID control law is adopted for designing a relative posture controller; a novel pulse width modulation method is provided for modulating an obtained continuous control amount to obtain an executing impulse width of a thruster; finally, a relative state controller design strategy set based on the PID control law is formed and a complete controller parameter selection design scheme is provided. According to the rendezvous and docking six-degree-of-freedom relative control method, the defect that when a phase plane control algorithm is adopted in the prior art, influences on the design of the controllers by disturbance factors such as flexural vibration are hard to analyze is overcome. Meanwhile, the defect that accurate relative speed tracking control is hard to perform in phase plane control is overcome and the high-precision rendezvous and docking relative state control is achieved.

Description

technical field [0001] The invention relates to a six-degree-of-freedom relative control method for rendezvous and docking, in particular to a six-degree-of-freedom relative control method for rendezvous and docking based on PID control law and pulse width modulation, and belongs to the field of relative control for rendezvous and docking. Background technique [0002] The rendezvous and docking mission is a key technology that must be possessed for aerospace missions such as space station construction and maintenance, spacecraft on-orbit service, and deep space exploration. In the final stage of the rendezvous and docking mission, within a range of hundreds of meters between the two spacecraft, it is usually necessary to adopt a relative translation and relative rotation six-degree-of-freedom closed-loop control method to meet the docking conditions and finally realize the docking. [0003] The space rendezvous and docking technology is developing towards autonomous and aut...

AI Technical Summary

Problems solved by technology

[0006] In the foreign rendezvous and docking mission design, there have been models based on the relative control method of PID, but the selection method of its specific control parameters has not been disclosed; in addition, the PID control law is essentially a continuous control method, and the working mode of the thruster is switch control. , so the modulation of the control amount must be carried out, and the modulation method also has an important influence on the control effect

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