时变通信约束下航天器绕飞的高阶全驱预测控制方法  

A high⁃order fully actuated predictive control approach of spacecraft flying⁃around under time⁃variant communication constraints

作　　者：张大蔚 刘国平[1,2] ZHANG Dawei;LIU Guoping(Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin 150001,China;Center for Control Science and Technology,Southern University of Science and Technology,Shenzhen 518055,China)

机构地区：[1]哈尔滨工业大学控制理论与制导技术研究中心,哈尔滨150001 [2]南方科技大学控制科学与技术研究中心,深圳518055

出　　处：《航空学报》2024年第1期40-50,共11页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(62173255,62188101)。

摘　　要：针对视线坐标系下具有时变通信约束的航天器绕飞问题,提出了一种高阶全驱(HOFA)预测控制方法以实现绕飞任务并主动补偿服务航天器与跟踪与数据中继卫星系统间的时变通信延迟和数据丢包。首先,在视线坐标系下引入了一个非线性高阶全驱系统模型来描述航天器绕飞的相对动力学模型,并将所提出的绕飞任务转换为非线性高阶全驱系统的跟踪控制问题。其次,利用全驱特性抵消系统中的非线性,从而构建一个线性高阶全驱(LIHOFA)系统。然后,应用丢番图方程建立一个增量线性高阶全驱预测模型以代替传统的降阶预测模型,进而构建多步超前预测以实现跟踪控制性能的优化和时变通信约束的补偿,从而有效地保证了绕飞任务的实现。同时,给出了一个简单的充要条件以分析闭环系统的稳定性和跟踪性能。最后,还提供了航天器在圆轨道和椭圆轨道绕飞的数值仿真以验证高阶全驱预测控制方法的可行性。A High-Order Fully Actuated(HOFA)predictive control approach is proposed for the problem of spacecraft flying-around under time-variant communication constraints in a sight coordinate system,including both time-variant communication delays and time-variant packets dropouts in the communication channels between the servicing space⁃craft and the tracking and data relay satellite system.In the sight coordinate system,a nonlinear HOFA system model is introduced to describe the relative dynamics of spacecraft flying-around,such that the proposed flying-around task can be considered as a tracking control problem of nonlinear HOFA system.In this approach,the nonlinearities can be eliminated to construct a linear HOFA system because of full actuation characteristic,and then a Linear Incremental HOFA(LIHOFA)prediction model is constructed by applying a Diophantine Equation to replace a reduced-order pre⁃diction model,such that multi-step ahead predictions are developed to achieve the optimization of tracking control per⁃formance and the compensation of time-variant communication constraints,which guarantees the realization of this flying-around mission.A necessary and sufficient condition is given to analyze the stability and tracking performance of closed-loop system.Further,two simulated examples of spacecraft flying-around in circular and elliptical orbits are pro⁃vided to verify the feasibility of HOFA predictive control approach.

关 键 词：航天器绕飞 非线性高阶全驱系统 时变通信约束 高阶全驱预测控制 稳定性与跟踪性能 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计] TP13[自动化与计算机技术—控制理论与控制工程]