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68 results about "Spacecraft formation" patented technology
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Spacecraft fault tolerance attitude cooperation tracking control method based on normalized neural network
ActiveCN105404304AReduce estimation errorEliminate Aggregation InterferenceAttitude controlFault toleranceKinematics equations
The invention relates to a spacecraft fault tolerance attitude cooperation tracking control method based on a normalized neural network, and belongs to the technical field of spacecraft formation flight. According to the method, an attitude motion model of a single spacecraft is built, errors are defined, a control law is designed for the model, a sliding mode function is designed, the derivative of the sliding mode function is solved, an error model is obtained, a control law based on an input normalized neural network is designed, and the states of the spacecrafts are cooperative and consistent; each spacecraft calculates the required control torque according to attitude information of itself and the adjacent spacecraft, the calculated control torque is acted on the corresponding spacecraft via an execution mechanism of each spacecraft, the angular velocity is solved via an obtained attitude dynamic equation, a unit quaternion attitude tracks an expected attitude via the attitude dynamic equation, and consistent attitude of the spacecraft formation is finally realized. According to the method, estimation errors of non-linear function approximation are reduced, the calculating time is reduced, and the convergence rate and the control precision of the system are increased.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Decoupling control method for relative orbits and attitudes of formation satellites
InactiveCN101794154AReduce the control dimensionImprove solution efficiencyAttitude controlPosition/course control in three dimensionsRelative orbitAttitude control
The invention discloses a decoupling control method for relative orbits and attitudes of formation satellites, relates to the technical field of the control of the orbits and attitudes of a spacecraft formation, and solves the problems of large satellite calculation amount and low orbit solving efficiency caused by high control dimension of the formation satellites due to serious coupling of the relative orbits and the attitudes of the formation satellites. The method gives two decoupling conditions at first, so that the control of the relative orbits and the attitudes can be designed independently; a thrust vector mobility decoupling constraint condition is introduced to the initialization control of the relative orbits according to satellite attitude mobility constraints indirectly; and during the optimal thrust vector attitude tracking, the possible orientation in space, which meets solar avoidance constraints, of a star sensor optical axis (1) is sought by using a geometric method, and the optimal attitude quaternion and attitude angular velocity are calculated finally by using a double-vector attitude determination algorithm. The method provides important reference value for the control of the orbits and the attitudes of the spacecraft formation.
Owner:HARBIN INST OF TECH
Spacecraft formation flying relative position cooperative control method based on event triggering
ActiveCN109002058AReduce trafficImprove robustnessAdaptive controlPosition/course control in three dimensionsDynamic modelsMathematical Graph
The invention discloses a spacecraft formation flying relative position cooperative control method based on event triggering. The spacecraft formation flying relative position cooperative control method based on event triggering comprises the steps of: establishing a relative position error dynamics model of a spacecraft formation flying process by considering that an external disturbance condition exists; on the basis of a graph theory, performing communication condition description on a spacecraft formation flying system; by considering that communication resources are limited, designing a virtual speed controller based on an event triggering strategy; and designing actual control input based on the virtual speed controller. By means of the method, the formation configuration is kept same while overall position maneuvering of formation spacecrafts is realized; and furthermore, the method has the advantages of being high in anti-interference capability, effectively reducing the communication capacity between the formation spacecrafts and the like, and is suitable for spacecraft formation flying relative position cooperative control.
Owner:BEIHANG UNIV
Spacecraft formation attitude limited time cooperation control method under complicated constraint condition
InactiveCN107422641AEasy to controlAttitude controlAdaptive controlSpacecraft attitude controlControl signal
The invention provides a spacecraft formation attitude limited time cooperation control method under a complicated constraint condition. The spacecraft formation attitude limited time cooperation control method comprises steps that a formation topological structure is determined, and the current attitude value of the spacecraft formation is acquired; a spacecraft attitude control equation is converted into a system error tracking equation; a system state observer is invoked to estimate the angular speeds and the attitude values of the various members of the spacecraft formation, and then angular speed estimation values and attitude estimation values are acquired; the angular speed estimation values and the attitude estimation values of the members of the adjacent formation are coupled to acquire control slip form variables; the slip form variables are transmitted to a controller, and the controller is used to convert the control slip form variables to control signals according to a preset slip form control algorithm. By adopting the method provided by the invention, the accurate control over the spacecraft formation attitude under the complicated constraint condition is realized.
Owner:中国人民解放军火箭军研究院 +1
Autonomous relative navigation method for multi-information fusion formation spacecrafts
InactiveCN101793526AMeet spaceMeet needsInstruments for comonautical navigationAviationNavigation system
Owner:HARBIN INST OF TECH
Distributed index time varying slip mode posture cooperation tracking control method
InactiveCN103439975ASolve the problem of attitude synchronizationShort response timeAttitude controlDistributed indexMode control
The invention relates to a distributed index time varying slip mode posture cooperation tracking control method and belongs to the technical field of spacecraft formation flight. The method comprises: by establishing a posture kinetic equation in a form of Euler-langrage, selecting index time varying slip mode surface function, calculating a synchronization expectation posture for each spacecraft, and according to the design idea of a time varying slip mode controller, designing a distributed posture cooperation tracking controller so as to enable aircrafts to perform cooperation tracking on the expectation postures and have higher robustness in terms of extraneous interference and inertia uncertainties. Compared to conventional slip mode control, a time varying slip mode enables the phase trajectory of a system to always remain at a slip mode surface, so that in the posture cooperation process of the formation spacecrafts, even if communication is limited and a topology structure needs to be changed, the posture cooperation tracking of the spacecrafts can still be realized.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Radiation open loop tethered satellite formation constant speed spinning deployment control method
ActiveCN105468011AReflect stabilityReflect the characteristics of the movementCosmonautic vehiclesCosmonautic partsMassive gravityClosed loop
The invention discloses a radiation open loop tethered satellite formation constant speed spinning deployment control method, relates to a dynamics construction and control strategy design in which the tethered satellite formation is spun and deployed at a constant speed into a radiation open loop form and belongs to the field of spacecraft formation control. In view of the radiation open loop tethered satellite formation running on a circular Kepler track in an earth center gravitational field, in consideration of multi-body system movement characteristics and gravity gradient moment effects, system spinning deployment dynamics is built via a Lagrange equation; on the basis, a closed loop control strategy is designed, the main satellite is spun and deployed at a constant speed, compensation in view of the gravity gradient moment is carried out, damping is added to the tail section of the deployment to restrain system oscillation; the dynamics and the control method are simple, effective and easy to realize; and the whole process of controlling the tethered satellite system to deploy at a constant speed is smooth, safe and high in reliability.
Owner:BEIJING INSTITUTE OF TECHNOLOGYGY
Control method for communication and calculation of space vehicle formation flight relative position under constraint
ActiveCN108897340AReduce trafficReduce the amount of calculationPosition/course control in three dimensionsDirected graphDynamic models
The invention discloses a control method for communication and calculation of a space vehicle formation flight relative position under constraint. The method comprises the following steps of buildinga space vehicle formation flight process relative position error dynamic model; on the basis of a directed graph theory, building an space vehicle formation flight system model; considering the modeluncertainty, designing an adaptive relative position cooperated controller which does not need the relative speed information; considering the communication and calculation constraint; designing the event triggering proper time communication strategy. The method has the advantages that the whole position maneuverability by the space vehicle formation flight system is ensured; meanwhile, the formation structure keeps unchanged; the advantages of high robustness, effective reduction of communication quantity between formation space vehicles and calculation quantity of spaceborne computers and the like are realized; the method is applicable to the cooperated control of the space vehicle formation flight relative position.
Owner:BEIHANG UNIV
Finite-time posture fault-tolerant control method for spacecraft formation
InactiveCN109459931AShort collaboration timeSimple structureAdaptive controlRobustificationControl system
The invention relates to a finite-time posture fault-tolerant control method for a spacecraft formation and belongs to the technical field of multi-spacecraft formation flying. In order to reduce communication paths and avoid resource waste, a directional communication topological structure with small communication traffic is adopted between spacecraft formation members; in addition, in order to make a spacecraft formation posture control system achieve synergy more quickly and stably, the finite-time posture fault-tolerant control method for the spacecraft formation is provided on the basis of a finite-time algorithm with high robustness and fast convergence, a redundant fault-tolerant algorithm with better fault-tolerant performance and an self-adaptive algorithm with a good suppressioneffect on system uncertainty and interference. According to the method, a limited-capacity self-adaptive posture cooperative tracking fault-tolerant control strategy is perfected, a redundant fault-tolerant control method is achieved through reasonable torque distribution, and at the same time, a self-adaptive law is designed for reducing the influence of inertia variation and interference; moreover, fast convergence of a spacecraft cooperative tracking error system can be realized, and the robustness and practicability of the control system are further improved.
Owner:NANJING UNIV OF SCI & TECH
PIO-based round orbital space vehicle formation reconfiguration type anti-collision path planning method
ActiveCN108897338ARealize the planPosition/course control in three dimensionsShortest distanceSpacecraft attitude control
The invention discloses a PIO-based round orbital space vehicle formation reconfiguration type anti-collision path planning method, and belongs to the technical field of space vehicle attitude control. According to the algorithm, firstly, a spaceflight short-distance relative motion linear C-W equation is used for dynamics modeling; then, a space vehicle formation discrete dynamic equation is usedfor calculating the total fuel consumption of the space vehicle formation; an infinite series method is used for calculating the collision probability between the space vehicles; a corresponding fitness function is built through an exterior penalty function method; then, a self-adaptive geomagnetic factor coefficient is introduced; the original global search and local search capability of the deterrent algorithm is balanced; the flight optimization path considering the fuel consumption and avoiding collision is finally obtained. The algorithm is simple; the formation fuel consumption and collision avoidance factors between the space vehicles are considered under the condition of given initial and final space vehicle formation; the optimization of the space vehicle formation flight path isrealized.
Owner:NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Spacecraft formation cooperative control method for guaranteeing communication and avoiding collision
ActiveCN109765921AGuaranteed uptimeEfficient and reliable completionAttitude controlRobustificationAnti jamming
The invention discloses a spacecraft formation cooperative control method for guaranteeing communication and avoiding collision. The method comprises the following steps that: considering a situationthat external interference is in the presence to establish the relative position kinetic model of a spacecraft formation flight system; on the basis of a directed graph theory, describing the communication situation of the spacecraft formation flight system; defining a scalar potential function, and restricting a safe and reliable area capable of guaranteeing the effective communication and the collision avoidance of the spacecraft; and designing an adaptive cooperative controller to enable the final speed of the spacecraft formation to approach to be consistent. By use of the method, while the formation spacecraft realizes a consistent integral speed, the formation spacecraft is guaranteed to carry out effective communication and collision avoidance, and in addition, the method has the advantages of high anti-jamming capability, good robustness and the like, and is suitable for the cooperative control of the relative position of spacecraft formation flight.
Owner:BEIHANG UNIV
Spacecraft relative position control method based on finite-time distributed type speed observer
ActiveCN109683628APrecise estimate of speed informationRealize position controlPosition/course control in three dimensionsDynamic modelsMathematical Graph
The invention provides a spacecraft formation relative position control method based on a finite-time distributed type speed observer, and belongs to the field of spacecraft formation relative position control. Firstly, according to a spacecraft relative position dynamics model, the graph theory is used for representing the communication topological relationship between formation members; secondly, the finite-time distributed type speed observer is designed; finally, based on velocity observation information, a potential function method is adopted, and the control method which can make the spacecraft formation members reach their desired positions while avoiding collisions during flight is designed. The method achieves the finite-time estimation of the spacecraft speed, a controller can beindependently designed, and the method is suitable for the relative position control of spacecrafts with missing velocity information. The finite-time distributed type velocity observer is adapted totimely and accurately provide velocity estimation information, the relative position of the spacecraft is ensured to reach expected value, and meanwhile the occurrence of collision is avoided.
Owner:HARBIN ENG UNIV
Libration point spacecraft formation reconfiguration method based on self-adaption agent model
InactiveCN104794281AReduce consumptionReduce variablesSpecial data processing applicationsOptimization problemFlight formation
The invention relates to the technical field of spacecraft formation reconfiguration, and provides a libration point spacecraft formation reconfiguration method based on a self-adaption agent model. The method comprises the steps that 100, a sun-terrestrial system libration point nearby spacecraft formation controlled kinetic equation is built; 200, according to the spacecraft formation reconfiguration mission requirement, an optimization target is selected to obtain the optimization problem of spacecraft formation reconfiguration; 300, the self-adaption agent model of spacecraft formation reconfiguration is built, and the optimal reconfiguration track of a spacecraft formation is obtained through the self-adaption agent model; 400, the value range of a variable in the self-adaption agent model is narrowed, the step 300 is repeated in sequence, and the validity of the self-adaption agent model is verified. On the premise of the high computational efficiency, the formation reconfiguration result very close to the actual optimal solution can be obtained.
Owner:DALIAN UNIV OF TECH
Spacecraft amplitude limiting adaptive attitude cooperative fault tolerant control method
InactiveCN108628330ASimple structureFast convergenceCosmonautic vehiclesCosmonautic partsControl systemSelf adaptive
The invention relates to a spacecraft amplitude limiting adaptive attitude cooperative fault tolerant control method, which belongs to the technical field of multi-spacecraft formation flying. A redundant fault-tolerant algorithm is used to process a spacecraft fault. A control torque saturation controller carries out torque amplitude limiting. An adaptive algorithm control term compensates for inertia variation and external disturbance, and a fast convergence control algorithm is used for fast attitude cooperation. Other algorithms are used. The spacecraft amplitude limiting adaptive attitudecooperative fault tolerant control method is proposed. According to the invention, the consideration of a torque actuator fault, torque amplitude limiting, external disturbance and inertia variationuncertainty is more advanced; a spacecraft cooperative tracking error system can quickly converge; and the robustness and practicability of a control system are further improved.
Owner:NANJING UNIV OF SCI & TECH
Distributed spacecraft formation adaptive finite time attitude cooperative tracking control method
ActiveCN111857181ASimple structureEasy to implementPosition/course control in three dimensionsControl theoryNonsingular terminal sliding mode control
The invention discloses a distributed spacecraft formation adaptive finite time attitude cooperative tracking control method, which comprises the following steps: establishing a communication topological structure in which only part of follower spacecrafts can communicate with a pilot spacecraft; designing a distributed finite time observer, so that the follower spacecraft can observe the pilot information; and adopting a fast nonsingular terminal sliding mode control variable to enable the follower spacecraft to conduct fast cooperation and tracking on the pilot spacecraft. The method provided by the invention has the characteristics of short cooperation time and high control precision.
Owner:YANCHENG INST OF TECH
Input-limited finite time attitude cooperative tracking fault-tolerant control method
InactiveCN112357119AReduce occupancyShort collaboration timeCosmonautic vehiclesSpacecraft guiding apparatusInterference (communication)Communication bandwidth
The invention discloses an input-limited finite time attitude cooperative tracking fault-tolerant control method, and belongs to the technical field of multi-spacecraft formation flight. In order to reduce communication paths and avoid resource waste, a communication topological structure which has less communication traffic, comprises a directed spanning tree taking a navigator as a root node andonly has a part of followers capable of obtaining navigator information is adopted among spacecraft formation members. In order to enable a following spacecraft which cannot obtain pilot informationto obtain reference information, a distributed finite time state observer is designed to observe the pilot information. Considering communication bandwidth limitation, actuator fault and saturation, system uncertainty and external interference, based on a finite time algorithm, a redundant fault-tolerant algorithm, an adaptive algorithm and a saturation function, a finite time attitude cooperativetracking fault-tolerant control strategy is perfected, and the robustness and practicability of the control system are further improved.
Owner:YANCHENG INST OF TECH
Method and device for determining relative orbit of spacecraft formation
ActiveCN108490973AAccurate predictionReduce measurementPosition/course control in three dimensionsRelative orbitMotion parameter
The embodiment of the invention discloses a method and device for determining a relative orbit of a spacecraft formation. The method comprises: measuring a first motion parameter of a first spacecraftin a spacecraft formation flying around a target object relative to a reference object; according to the first motion parameter, determining a first orbit number of the first spacecraft flying aroundthe target object; measuring a second motion parameter of a second spacecraft in the spacecraft formation relative to the first spacecraft; according to the first orbit number and the second motion parameter, determining a second orbit number of the second spacecraft flying around the target object; and determining an average relative orbital number of movement of the second spacecraft relative to the first spacecraft by combining the first orbit number and the second orbit number.
Owner:HARBIN INST OF TECH
Spacecraft formation position cooperative control method
ActiveCN111439392AReduce the amount of calculationReduce frequencyCosmonautic vehiclesSpacecraft guiding apparatusTime delaysControl engineering
A spacecraft formation position cooperative control method aims at a master-slave spacecraft formation position cooperation system. An event triggering mechanism is designe, an aperiodic control method based on the event triggering mechanism is formed, the frequency of executing the control method by an airborne microprocessor is reduced, the computational complexity is reduced, aiming at the conditions of external disturbance and state time delay in an actual system, an H-infinity robust performance index is constructed, and parameters of a controller and the triggering mechanism are determined by combining an LMI method, so that adverse effects of external disturbance and time delay are inhibited, robust bounded stability of the system under non-periodic control is ensured, and rapid andaccurate relative position control is realized.
Owner:SHANGHAI AEROSPACE CONTROL TECH INST
Trace-direction underactuated spacecraft formation reconstruction control method facing input saturation
ActiveCN105786013AIn line with physical realityRobustPosition/course control in three dimensionsDynamic modelsClosed loop
Owner:NAT UNIV OF DEFENSE TECH
Input saturation self-adaptive gesture collaborative tracking control method
InactiveCN108508751ASimple structureEasy to implementAdaptive controlFunction optimizationControl system
The invention relates to an input saturation self-adaptive gesture collaborative tracking control method and belongs to the technical field of multi-spacecraft formation flight. The method gains the advantages that a bipower algorithm enables a formation system to quickly, stably and dynamically adjust a function optimization control gain to further reduce the saturation incidence, a saturation function controls input saturation amplitude limiting, and an adaptive law suppresses interference and compensation inertia time-varying uncertainty. The invention provides the input saturation self-adaptive gesture collaborative tracking control method which enables spacecraft formation members to quickly complete gesture collaborative tracking. According to the method, influences of input saturation, interference, inertia time varying and the like are comprehensively considered, an input saturation collaborative tracking control strategy is improved, a collaborative tracking error system can be rapidly stabilized, and the robustness and practicability of a control system are further improved.
Owner:NANJING UNIV OF SCI & TECH
Spacecraft formation flying method in weak-stability boundary area
ActiveCN105912020AImprove use valueImprove description accuracyPosition/course control in three dimensionsFly controlDynamic models
A spacecraft formation flying method in a weak-stability boundary area of the invention comprises the following steps: (1) solving out an earth-moon low-energy transfer orbit of a main spacecraft based on weak stability boundary properties under a sun-earth-moon-spacecraft four-body model; (2) deriving a relative dynamic equation of an accompanying spacecraft under the sun-earth-moon-spacecraft four-body model; (3) designing a Hamiltonian structure shape maintenance controller; (4) solving out a bounded relative flying orbit of the accompanying spacecraft; and (5) planning a main spacecraft and accompanying spacecraft formation flying orbit based on the earth-moon low-energy transfer orbit of the main spacecraft obtained in step (1). The precision of a formation flying basic dynamic model is improved. The factors of gravity environment change are taken into consideration in formation control. Moreover, a formation flying control method based on a Hamiltonian structure shape maintenance controller is put forward to generate a bounded relative flying orbit in the earth-moon low-energy transfer process.
Owner:北京航天驭星科技有限公司
Hovering cooperative control method and system for electromagnetic spacecraft fleet
ActiveCN108628345AEasy to decoupleRobustPosition/course control in three dimensionsTime informationSystems design
Owner:BEIHANG UNIV
Anti-collision six-degree-of-freedom cooperative control method for spacecraft formation
PendingCN111026154AWith robust interference suppression performanceMeet high precision control requirementsPosition/course control in three dimensionsPerformance functionTransient state
The invention discloses an anti-collision six-degree-of-freedom cooperative control method for spacecraft formation, and the method comprises the steps: S1, determining a complete mathematic model ofsix-degree-of-freedom movement of spacecraft master-slave formation, and converting a kinetic model of a relative position into a kinetic model related to the distance between spacecrafts; and S2, determining a spacecraft formation anti-collision six-degree-of-freedom preset performance function, performing error model conversion, and determining a six-degree-of-freedom cooperative robust controllaw of the sliding mode variable structure. According to the invention, the sliding mode variable structure control technology and the preset performance control are combined, the controller design utilizes the advantages of the preset performance function, the transient state performance and the steady state performance of the system are both considered, and the anti-collision requirement of thesystem is met; through sliding mode variable structure control, it is ensured that the system has certain robust interference suppression performance under the action of external disturbance; six-degree-of-freedom high-precision cooperative control of the relative attitude and the relative position of the spacecraft considering external interference and anti-collision constraints is realized.
Owner:SHANGHAI AEROSPACE CONTROL TECH INST
Method for controlling formation maintenance or flying-around withdrawal of spacecraft
ActiveCN104317303AEvacuate autonomously and safelyAccurately describe the average drift motion speedPosition/course control in three dimensionsOrbital periodEngineering
Owner:BEIJING INST OF CONTROL ENG
Reconstruction method of electromagnetic spacecraft configuration with low fuel consumption and stable process
ActiveCN109828594AReduce consumptionImprove stabilityAttitude controlScalar optimizationReconstruction method
The invention belongs to the technical field of electromagnetic spacecraft, and particularly relates to a reconstruction method of electromagnetic spacecraft configuration with low fuel consumption and stable process. The method comprises the main steps of: (S1) calculating an initial relative equilibrium configuration and a target relative equilibrium configuration of an electromagnetic spacecraft formation system; (S2) designing a time interval as a connection time frame of an expected initial relative equilibrium unstable manifold and a target relative equilibrium stable manifold; and (S3)selecting an unstable manifold in the global manifold of the initial relative equilibrium configuration and a certain amount of discrete state points on the stable manifold in the global equilibrium of the target relative equilibrium configuration, establishing a scalar optimization objective function about the deviation between state points, designing a pulse speed increment and an electromagnetic magnetic moment to make the scalar optimization objective function approach 0 to achieve the reconstruction of two spacecrafts. The electromagnetic force manipulation is introduced in the configuration reconstruction design to fully utilize the advantage without consumption of fuel, and the stability is good.
Owner:NAT UNIV OF DEFENSE TECH
Distributed calculating method for spacecraft dynamics
ActiveCN107300861AImprove computing efficiencySolve the situation where the simulation calculation task cannot be completedSimulator controlData exchangeSimulation testing
The invention discloses a distributed calculating method for spacecraft dynamics, and belongs to the technical field of control and simulation. The method comprises the steps: employing a distributed calculating strategy, enabling the dynamics simulation operation of a plurality of spacecraft to be distributed to different simulation computers, enabling each simulation computer to just carry out the dynamics resolving for one spacecraft, obtaining the dynamics data of other spacecraft through the data exchange among different simulation computers, and completing the combined simulation testing task of the plurality of spacecraft. The method irons out the defects that a conventional centralized-type simulation technology is not sufficient in calculation capability of simulation computers during the centralized simulation of the dynamics of a plurality of objects and needs to carry out the repeated modeling, and improves the simulation calculation efficiency.
Owner:BEIJING INST OF CONTROL ENG
Collision avoidance device and method for formation of aircraft relative to invading aircraft
ActiveCN107170296AMultiple aircraft traffic managementVehicle position/course/altitude controlManagement unitFlight vehicle
A kind of aircraft formation (F) relative to the spacecraft formation (F) and foreign aircraft (AC0) collision management equipment, the aircraft fleet (F) including leading aircraft (AC1) and at least one UAV (AC2), the equipment includes: formation flight management unit, all aircraft aircraft in the fleet are equipped with formation flight management unit formation flight management unit and is configured for formation flying spacecraft formation in all vehicle management; and the management module and the control module, which is used to determine and application for Spacecraft Formation (F) of all aircraft (AC1, AC2) the coordinated avoidance maneuver, the coordinated avoidance maneuver is determined so as to avoid collision and intrusion aircraft (AC0), at the same time keep the formation Flight. An anti-collision method for an aircraft formation (F) relative to an aircraft formation (F) aircraft (AC0) is also provided.
Owner:AIRBUS OPERATIONS (SAS)
Autonomous relative navigation method for multi-information fusion formation spacecrafts
Owner:HARBIN INST OF TECH
Spacecraft formation finite time orbit tracking control method considering communication limitation
InactiveCN113568431AImplement trackingReduce the communication ratePosition/course control in three dimensionsRelative orbitBackstepping
The invention relates to a spacecraft formation finite time orbit tracking control method considering communication limitation. The method comprises the steps that a spacecraft formation relative orbit model is established; a hysteresis quantizer model is established, and a hysteresis quantizer is adopted to quantize control input signals of slave spacecrafts in the spacecraft formation relative orbit model; in order to facilitate the design of the controller, an intermediate variable is defined; a virtual controller is designed based on a backstepping method and a power integration technology; and according to the designed intermediate variable and the virtual controller, a spacecraft formation finite time tracking controller considering communication limitation is obtained. The controller can ensure that a formation spacecraft realizes tracking control of an expected state in finite time, and the problems of singularity and discontinuity when a finite time tracking controller is designed by adopting a sliding mode control method traditionally can be avoided by adopting a backstepping method and a power integral technology; in addition, the communication load of the control system is effectively reduced through the introduction of a hysteresis quantizer in the design of the controller.
Owner:XIAN UNIV OF POSTS & TELECOMM
Flexible spacecraft finite time attitude cooperative control method for executing mechanism fault
ActiveCN113220007AImprove practicalityReduce demandAttitude controlUndirected graphMathematical model
The invention provides a flexible spacecraft finite time attitude cooperative control method for an executing mechanism fault. The flexible spacecraft finite time attitude cooperative control method comprises the following steps: step 1, establishing a non-unwinding flexible spacecraft attitude motion mathematical model based on a rotation matrix; step 2, acquiring attitude information and a reference trajectory of each member in the flexible spacecraft formation, and establishing a relative attitude kinetic equation; step 3, describing a communication topological structure among members of the formation system based on an undirected graph, and designing a fast terminal sliding mode variable in combination with a lumped error; and step 4, designing a self-adaptive fault-tolerant controller in consideration of unknown external disturbance and difficulty in observing flexible dynamic and time-varying inertial parameters. According to the method, real-time estimation and compensation are carried out on uncertain dynamic states based on adaptive control, and the practicability of a spacecraft attitude cooperative fault-tolerant control strategy is remarkably enhanced. According to the method, especially the application of the minimum learning parameter algorithm, the requirement of a control system for computing resources is reduced, so that the purpose of reducing hardware loads is achieved, and the method has very high engineering significance.
Owner:HARBIN ENG UNIV
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