微纳卫星与非合作翻滚目标对接的模型预测控制  

Model Predictive Control for Docking of Micro-nano Satellite and Non-cooperative Tumbling Target

作　　者：赵玲 陈丹鹤 廖文和[1] 郑侃[1] 刘婷婷[1] ZHAO Ling;CHEN Danhe;LIAO Wenhe;ZHENG Kan;LIU Tingling(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《宇航学报》2023年第3期431-442,共12页Journal of Astronautics

基　　金：国家自然科学基金(51905272)。

摘　　要：针对多约束下微纳卫星与非合作翻滚目标对接过程中的位置跟踪与姿态同步问题,设计了基于模型预测控制(MPC)的对接控制器。首先,考虑动力学耦合问题,建立了六自由度姿轨耦合相对动力学模型。然后,充分考虑了可能存在的实际工程约束,包括输入饱和约束、移动过程中的速度约束、追踪星光学设备视场约束、安全接近走廊约束等,设计了基于MPC的对接控制器,确保精确完成对接操作的同时尽量减少推进剂消耗以获得最优接近轨迹。最后,仿真结果说明了本文所提出控制策略的有效性和鲁棒性,所设计控制器可以在满足多种约束的基础上,实现微纳卫星对非合作翻滚目标的对接,并对干扰具有鲁棒性。A docking controller based on model predictive control(MPC)is designed to solve the problem of position tracking and attitude synchronization in the process of docking a micro-nano satellite with a tumbling non-cooperative target under multiple constraints.Firsdy,considering the coupling problem of the dynamic model,a six-degree-of-freedom attitude-orbit coupling dynamic model is established.Then,a strategy based on model predictive control is designed to ensure the precise completion of the docking operation while minimizing the propellant consumption to obtain the optimal docking trajectory.The practical engineering constraints that may exist in the docking process of micro-nano satellites are fully considered,including control saturation constraint,speed constraint during movement,field-of-view constraint of tracker*s optical equipment,and approach corridor constraint.Finally,simulation results demonstrate the effectiveness and robustness of the controller designed in this paper.It can realize the docking of micro-nano satellites to tumbling non-cooperative targets under various constraints,and has robustness to disturbances.

关 键 词：微纳卫星 非合作目标 交会对接 多约束 模型预测控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]