Data-driven attitude controller design method for non-cooperative target assembly spacecraft

A non-cooperative target, attitude controller technology, applied in attitude control, space navigation equipment, space navigation equipment, etc., can solve the problems of unknown parameters of combined spacecraft and complex spacecraft design process.

Active Publication Date: 2022-06-21
HARBIN INST OF TECH
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Problems solved by technology

[0003] The purpose of the present invention is to solve the shortcoming that the parameters of the combined spacecraft are unknown when designing the attitude stability controller of the non-cooperative target combined spacecraft, which leads to the complex design process of the spacecraft, and propose a data set of the non-cooperative target combined spacecraft Design Method of Driving Attitude Controller

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  • Data-driven attitude controller design method for non-cooperative target assembly spacecraft
  • Data-driven attitude controller design method for non-cooperative target assembly spacecraft
  • Data-driven attitude controller design method for non-cooperative target assembly spacecraft

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specific Embodiment approach 1

[0023] Embodiment 1: A data-driven attitude controller design method for a non-cooperative target composite spacecraft includes the following steps:

[0024] Step 1: Establish the attitude kinematics equation and attitude dynamics equation of the attitude control of the non-cooperative target composite spacecraft;

[0025] Step 2: obtaining a linearized attitude equation according to the attitude kinematics equation and attitude dynamics equation of the attitude control of the non-cooperative target composite spacecraft established in step 1, wherein the system matrix parameters are unknown;

[0026] Step 3: According to the linearized attitude equation obtained in step 2, the initial feedback gain K of the Kleinman iteration algorithm is designed using the parameter Lyapunov equation 0 ;

[0027] Step 4: According to the initial feedback gain K designed in Step 3 0 Using a data-driven approach, an attitude controller for a non-cooperative target assembly spacecraft is desig...

specific Embodiment approach 2

[0028] Embodiment 2: The difference between this embodiment and Embodiment 1 is that: in the step 1, the specific process of establishing the attitude kinematics equation and the attitude dynamics equation of the attitude control of the non-cooperative target composite spacecraft is:

[0029] (1) Definition of coordinate system:

[0030] Define the geocentric equatorial inertial coordinate system as OX i Y i Z i , where the origin of the coordinate system is set at the center of the earth O, OX i The axis points to the equinox in the equatorial plane, OZ i Pointing to the Earth's North Pole perpendicular to the equatorial plane, OY i with OX i and OZ i The two axes form a right-hand vertical coordinate system;

[0031] Orbital coordinate system is O'X o Y o Z o , the origin of the coordinates is at the center of mass of the spacecraft, O′X o in the orbital plane, perpendicular to O'Z o axis and points in the direction of the spacecraft velocity, O'Z o Point to the...

specific Embodiment approach 3

[0052] Embodiment 3: This embodiment is different from Embodiment 1 or 2 in that: in the second step, the attitude kinematics equation and the attitude dynamics equation of the attitude control of the non-cooperative target composite spacecraft established in step 1 are linear. The specific process of transforming the attitude equation is as follows:

[0053] at the equilibrium point q * =[0 0 0 1] T and ω * =[0-ω 0 0] T Linearizing the attitude kinematics equation (1) and the attitude dynamics equation (2) at:

[0054]

[0055]

[0056] in for q 1 The first derivative of , for q 2 The first derivative of , for q 3 The first derivative of , ω 0 represents the angular velocity of the spacecraft around the earth, for ω rx The first derivative of , for ω ry The first derivative of , for ω rz the first derivative of ;

[0057] Spacecraft roll angle ψ, pitch angle θ, yaw angle The relationship with the quaternion q is:

[0058]

[0059] where t ...

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Abstract

A data-driven attitude controller design method for a non-cooperative target assembly spacecraft, the invention relates to a data-driven attitude controller design method for a non-cooperative target assembly spacecraft. The invention aims to solve the problem that the spacecraft design process is complicated because the parameters of the combined spacecraft are unknown when designing the attitude stability controller of the non-cooperative target combined spacecraft. The present invention includes: 1: establishing the attitude kinematics equation and attitude dynamics equation of the non-cooperative target assembly spacecraft attitude control; 2: obtaining the linearized attitude equation according to step 1, wherein the system matrix parameters are unknown; 3: according to the obtained linear The initial feedback gain K of the Kleinman iterative algorithm is designed by using the parametric Lyapunov equation to optimize the attitude equation 0 ; Four: According to the design of the initial feedback gain K 0 Using a data-driven approach, an attitude controller for a non-cooperative target assembly spacecraft is designed. The invention is used in the field of spacecraft control.

Description

technical field [0001] The invention relates to the field of spacecraft control, in particular to a data-driven attitude controller design method for a non-cooperative target composite spacecraft. Background technique [0002] In-orbit service missions involve an increasing number of non-cooperative target spacecraft. Because many parameters of the non-cooperative target spacecraft are unknown, after docking with the service spacecraft to form a combination, the position of the center of mass and inertia parameters of the new combination will inevitably be unknown. The spacecraft brings obvious disturbances, and the attitude of the spacecraft may change dramatically in an instant. The execution or stable operation in orbit brings a lot of troubles, and may even lead to the collapse of the spacecraft control system. Therefore, maintaining the stability of the attitude system is the premise that the service spacecraft can work normally after docking with the non-cooperative ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/20G05D1/08
CPCB64G1/244G06F30/20
Inventor 周彬李冬旭姜怀远段广仁
Owner HARBIN INST OF TECH
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