面向在轨加注的组合体姿态SAC智能控制  

SAC Intelligent Attitude Control Method for On-orbit Refueling Combination

作　　者：郑鹤鸣 翟光[1] 孙一勇 ZHENG Heming;ZHAI Guang;SUN Yiyong(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《宇航学报》2023年第7期1020-1033,共14页Journal of Astronautics

基　　金：国家重点研发项目(2019YFA0706500)。

摘　　要：提出了面向在轨加注任务的组合体姿态柔性动作-评价(SAC)智能控制方法,以保证组合体姿态稳定。首先,建立了储箱内液体燃料晃动-转移耦合运动的等效模型,并构建了在轨加注组合体时变惯量姿态动力学环境,用于对智能控制器的训练。然后,针对随机控制信号会给姿态执行机构带来较大负担的问题,对SAC算法进行了改进。训练过程中采用随机性动作增强寻优效率,实际应用时则输出确定性动作增强控制稳定性。在此基础上,设计了SAC姿态智能控制器,通过自适应输出控制力矩实现在轨加注组合体的姿态稳定收敛。同时设计了SAC加注压强智能控制器,通过自主调节加注压强减小随机扰动对姿态的影响。仿真结果表明,在应对由时变惯量引起的随机扰动时,相较于双延迟深度确定性策略梯度(TD3)算法,提出的SAC姿态智能控制器具有更强的鲁棒性。采用SAC加注压强智能控制器能够在保证加注效率的前提下有效减小加注带来的随机扰动。In order to ensure the attitude stability,the soft Actor-Critic(SAC)intelligent control method for the attitude control of on-orbit refueling combination is established.First,the equivalent model of liquid fuel sloshing-transfer coupling motion is proposed,and the time-varying inertia attitude dynamics environment is constructed for training the intelligent controllers.Then,the modified SAC algorithm is proposed.In the training process,random actions are used to enhance the optimization efficiency.In practice,deterministic actions are applied to enhance the control stability.On this basis,the SAC attitude intelligent controller is designed to achieve the attitude convergence.At the same time,the SAC refueling pressure intelligent controller is designed to reduce the influence of the disturbance on the attitude by automatic adjusting the refueling pressure.The simulation results show that,compared with the twin delayed deep deterministic policy gradient(TD3)algorithm,the proposed SAC attitude intelligent controller is more robust to the random disturbance caused by time-varying inertia.The SAC refueling pressure intelligent control can suppress the refueling disturbance while ensuring the refueling efficiency.

关 键 词：在轨加注 时变惯量 液体晃动 深度强化学习 姿态控制 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]