基于混合状态机的航天器自主绕飞多模态控制  

Spacecraft autonomous fly-around multi-mode control based on hybrid state machine

作　　者：李敏 袁利[2,3] 魏春岭 LI Min;YUAN Li;WEI Chunling(Beijing Institute of Control Engineering,Beijing 100190,China;Science and Technology on Space Intelligent Control Laboratory,Beijing 100190,China;China Academy of Space Technology,Beijing 100190,China)

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术重点实验室,北京100190 [3]中国空间技术研究院,北京100190

出　　处：《航空学报》2023年第18期255-270,共16页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(U21B6001)。

摘　　要：本文研究了对非合作目标的自主绕飞控制问题,提出了基于混合状态机的自主绕飞多模态控制方法。首先,根据自主绕飞任务目标和轨道安全性分析,定义了远程接近、近程接近、相对位置保持、绕飞转移、碰撞规避、撤离等状态以及各个状态的控制目标。其次,为了实现航天器各个行为状态之间的协调转换与控制,建立混合状态机模型对各个状态进行自主管理和监控,设计了状态之间跳转的转换函数。然后,根据不同状态的控制目标,设计了多模态运动规划与控制策略,实现多模态自适应有限时间跟踪控制。最后,对本文所提出的自主绕飞控制方法进行了仿真验证,仿真结果说明了所提出的方法的有效性。This paper investigates the autonomous control problem for non-cooperative targets,and proposes a multimode control approach based on the hybrid state machine.First,according to the task objective of fly-around and orbit safety analysis,we define six states including long-range guidance,close-range guidance,relative-position keeping,fly-around transfer,collision threat avoidance,and evacuation.Moreover,the control objective of each state is de⁃signed.Second,to achieve the coordinated transitions and control between the states,a state monitoring and man⁃agement approach is developed and state transition functions designed based on the finite state machine.A novel multi-mode motion plan and adaptive finite-time control strategies are then proposed to guarantee the tracking perfor⁃mance according to the task objective.Finally,the proposed autonomous fly-around control approach is simulated by digital simulation software,and the simulation results show the effectiveness of the proposed approach.

关 键 词：自主绕飞控制 混杂系统 有限状态机 多模态控制 碰撞威胁规避 

分 类 号：V44[航空宇航科学与技术—飞行器设计]