A method for energy optimization management of hybrid actuators based on tu cooperative game

Abstract

The invention discloses an energy optimization management method of a hybrid executive mechanism based on TU cooperative game, comprising the following steps: designing a dynamic performance index matrix S controlled by a hybrid actuator, an energy minimization function E and a constraint condition f; designing a function H, respectively Derivation of the relationship between λ and the CMG frame angular velocity set and RW rotational angular acceleration set g x , g Ω ; Establish the TU cooperative game model of mixed executive agencies; calculate the pure strategy and mixed strategy; design the payoff moments of two-person zero-sum game and calculate the total income of this game as V(N) and the maximum income of each player V({ lambda i})(i=1,2,3); according to V(N) and V({λ i}) Calculate the optimal solution of each player. The invention solves the CMG singularity problem and the RW saturation problem, does not need iterative calculation, and can output a large torque without error, improves the maneuverability of the satellite attitude, optimizes and manages the energy of the hybrid actuator, and greatly reduces the number of hybrid actuators. System energy consumption.

Description

technical field [0001] The invention belongs to the technical field of satellite attitude control, in particular to an energy optimization management method of a hybrid executive mechanism based on TU cooperative game. Background technique [0002] With the increasing number of orbital debris and failed spacecraft, the demand for space-based close-range observation tasks such as monitoring orbital debris is increasing, and the agile maneuvering and attitude dynamic tracking of spacecraft have become research hotspots. For example, the maximum attitude maneuvering angular velocity of World View 1 in the United States has reached 4.5deg / s; another example is the French earth observation satellite Plé-iades-HR, which can perform a large-angle maneuver of 60deg within 25s. Obviously, agile maneuvering and attitude dynamic tracking have high requirements on the actuator, which not only requires the actuator to output a large attitude control torque, but also requires the torque o...

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Problems solved by technology

Wang Huanjie from Beijing University of Aeronautics and Astronautics designed a hybrid actuator control law based on CMG and RW based on the Gaussian pseudo-general method, which solved the problem of CMG singularity, but it may cause frequent switching between RW and CMG

Geng Yunhai of Harbin Institute of Technology and others designed a torque distribution algorithm based on CMG and RW hybrid actuators, which can solve the problem of CMG singularity and dead zone, as well as the problem of RW saturation and zero crossing, but it has not realized the optimal management of RW and CMG. The energy consumption of the system is high

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