航空学报 > 2017, Vol. 38 Issue (10): 321129-321129   doi: 10.7527/S1000-6893.2017.321129

考虑避障的航天器编队轨道容错控制律设计

马广富1, 董宏洋1, 胡庆雷2   

  1. 1. 哈尔滨工业大学 航天学院, 哈尔滨 150001;
    2. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083
  • 收稿日期:2017-01-13 修回日期:2017-04-17 出版日期:2017-10-15 发布日期:2017-04-17
  • 通讯作者: 董宏洋 E-mail:donghongyang91@gmail.com
  • 基金资助:

    国家自然科学基金(61522301,61633003)

Fault-tolerant translational control for spacecraft formation flying with collision avoidance requirement

MA Guangfu1, DONG Hongyang1, HU Qinglei2   

  1. 1. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China;
    2. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China
  • Received:2017-01-13 Revised:2017-04-17 Online:2017-10-15 Published:2017-04-17
  • Supported by:

    National Natural Science Foundation of China (61522301, 61633003)

摘要:

为解决航天器编队飞行过程中的故障容错、障碍规避以及碰撞避免等重要的飞行安全问题,提出了一种新颖的自适应轨道控制方法。该方法将人工势函数制导与滑模控制技术相结合,利用一类特殊的人工势函数来描述障碍规避及碰撞避免等要求,并基于此为航天器编队设计了协同控制器,使得编队在实现目标追踪和构型保持的同时,能够避免相互碰撞并具备规避障碍物的能力。更为重要的是,控制器中自适应律的引入使得闭环系统对执行机构故障、外界干扰及参数不确定性具备良好的容错能力,显著增强了闭环系统的鲁棒性。最后,典型的仿真分析验证了所提控制方法的有效性。

关键词: 航天器编队控制, 容错控制, 人工势函数制导, 障碍规避, 碰撞避免

Abstract:

To solve the flying safety issues of spacecraft formation,including fault tolerance and obstacle/collision avoidance,a novel adaptive translational control method is proposed.Specifically,the proposed method combines the core ideas of artificial potential function guidance and sliding mode control method.A special artificial potential function is designed to encode the collision/obstacle avoidance requirement,and then a coordination controller is presented to enable the spacecraft formation to maintain the predetermined configuration while tracking a target,and to be able to avoid all possible collisions between members in formation or with respect to a non-cooperative obstacle.Furthermore,by introducing adaptive laws into the controller,the robustness of the closed-loop system is further improved in respect to external disturbances,parameter uncertainties and even severe actuator faults.Typical simulations are performed to illustrate the effectiveness of the proposed method.

Key words: spacecraft formation flying control, fault-tolerant control, artificial potential function guidance, obstacle avoidance, collision avoidance

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