卫星编队飞行队形控制的参数化方法

发布时间：2018-06-04 00:26

  本文选题：卫星编队 + 队形控制　； 参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：随着航天技术的迅猛发展,对卫星功能的要求越来越高,由多颗小卫星编队飞行共同实现一个空间任务的研究成为了空间技术发展的新方向。而编队卫星间的相对位置满足一定要求时,才能确保各项任务的顺利完成。因此卫星编队飞行队形控制是编队飞行中的一项关键技术。本文主要研究了编队卫星队形保持与队形重构控制的参数化方法,并进行了仿真验证。首先,在参考星轨道坐标系下,建立了卫星编队相对运动的非线性动力学方程,将非线性方程线性化得到适用于椭圆参考轨道的Lawden方程和适用于圆参考轨道的C-W方程。给出了基于小偏心率参考轨道设计的几种典型编队构型的运动学描述。然后对破坏编队构型的主要因素—2J项摄动进行分析,推导出编队卫星相对2J项摄动加速度的表达式。最后通过仿真分析2J项摄动对空间圆绕飞构型的影响。其次,给出了卫星编队队形保持控制问题的描述,将队形保持问题视为对期望相对位置的轨迹跟踪问题,将相对运动的动力学方程和化为误差方程,进而将编队卫星队形的轨迹跟踪控制问题转化为以误差为状态变量的系统的镇定问题。分别基于(1)非线性动力学方程和全驱的二阶系统特征结构配置的参数化方法和(2)Lawden方程和一阶系统特征结构配置的参数化方法,设计了系统的反馈镇定控制器。其中,采用第二种设计思路分别设计了系统的全向推力反馈镇定控制器和无x轴方向控制的反馈镇定控制器。给出了燃耗与状态误差综合的性能指标,用非线性规划方法对控制器中的参数进行优化,使闭环系统满足性能要求。对空间圆绕飞构型和悬停伴飞构型两种情形进行数值仿真,对基于两种思路设计的控制器进行比较分析,并且验证了在2J项摄动的影响下队形保持控制器的有效性。最后,采用一种分层控制结构,将队形重构控制分为轨迹规划和轨迹跟踪控制两部分,并给出了卫星编队队形重构控制问题的描述。利用Radau伪谱法将连续系统的最优控制问题转化为一个非线性规划问题,通过求解这一非线性规划问题得到最优控制与最优轨迹的数值解。然后基于模型参考输出跟踪理论,推导了线性时变系统轨迹跟踪前馈控制器的求解方法,该方法设计的前馈控制器只需利用期望的相对位置和相对速度信息,并通过数值仿真对轨迹规划和控制方法进行验证。
[Abstract]:With the rapid development of space technology, the requirement of satellite function is becoming higher and higher. The research of realizing a space mission by multiple small satellites formation flying has become a new direction of space technology development. Only when the relative position of satellites meets certain requirements can the tasks be completed smoothly. Therefore, formation control of satellite formation flying is a key technology in formation flying. In this paper, the parameterization method of formation maintenance and formation reconfiguration control of formation satellites is studied, and the simulation is carried out. Firstly, the nonlinear dynamic equations of relative motion of satellite formation are established in the reference orbit coordinate system. The nonlinear equations are linearized to obtain the Lawden equation for elliptical reference orbits and the C-W equation for circular reference orbits. The kinematics description of several typical formation configurations based on the design of small eccentricity reference orbit is given. Then the perturbation of -2J term which is the main factor of destroying formation configuration is analyzed and the expression of perturbation acceleration of formation satellite relative to 2J term is deduced. Finally, the effect of 2J term perturbation on the configuration of space circular annulus is analyzed by simulation. Secondly, the control problem of satellite formation maintenance is described. The formation holding problem is regarded as the trajectory tracking problem of the desired relative position, and the dynamic equation of relative motion is added to the error equation. Then the trajectory tracking control problem of formation satellite formation is transformed into the stabilization problem of the system with error as the state variable. The feedback stabilization controller is designed based on the nonlinear dynamic equations and the parameterized method of eigenstructure collocation for the second order system with full drive, the Lawden equation for the second order and the parameterization method for the eigenstructure configuration of the first order system, respectively. The second design idea is used to design the omnidirectional thrust feedback stabilization controller and the non-x axis control feedback stabilization controller respectively. The performance index of burnup and state error synthesis is given, and the parameters in the controller are optimized by nonlinear programming method, so that the closed-loop system can meet the performance requirements. In this paper, numerical simulation is carried out on the spatial circular around flight configuration and hovering wake configuration. The controller based on the two ideas is compared and analyzed, and the effectiveness of the formation holding controller under the influence of 2J perturbation is verified. Finally, a hierarchical control structure is used to divide the formation reconfiguration control into two parts: trajectory planning and trajectory tracking control, and the problem of satellite formation reconfiguration control is described. The Radau pseudospectral method is used to transform the optimal control problem of continuous systems into a nonlinear programming problem. The numerical solution of the optimal control and optimal trajectory is obtained by solving the nonlinear programming problem. Then, based on the model reference output tracking theory, the solution of the trajectory tracking feedforward controller for linear time-varying systems is derived. The feedforward controller designed by this method only needs to use the desired relative position and relative velocity information. The trajectory planning and control methods are verified by numerical simulation.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V448.2
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本文编号：1974944