非合作目标交会的双层MPC全局轨迹规划控制

doi:10.7527/S1000-6893.2021.24903

论文

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

非合作目标交会的双层MPC全局轨迹规划控制

董凯凯¹, 罗建军¹, 马卫华¹, 高登巍², 谭龙玉^1,3

1. 西北工业大学航天学院, 西安 710072;
2. 中国兵器工业第203研究所, 西安 710065;
3. 上海航天控制技术研究所, 上海 201109

收稿日期:2020-10-20 修回日期:2020-11-12 发布日期:2021-02-24
通讯作者: 马卫华 E-mail:whma_npu@nwpu.edu.cn
基金资助:
国家自然科学基金（61690210，61690211）；上海市青年科技英才扬帆计划（18YF1410200）

Global trajectory planning and control of rendezvous of non-cooperative targets based on double-layer MPC

DONG Kaikai¹, LUO Jianjun¹, MA Weihua¹, GAO Dengwei², TAN Longyu^1,3

1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. No. 203 Research Institute of China Ordnance Industries, Xi'an 710065, China;
3. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China

Received:2020-10-20 Revised:2020-11-12 Published:2021-02-24
Supported by:
National Natural Science Foundation of China (61690210,61690211); Shanghai Sailing Program (18YF1410200)

摘要/Abstract

摘要： 针对空间非合作目标近距离视线交会中的全局最优鲁棒轨迹规划与控制问题，提出了基于高斯伪谱方法（GPM）和线性时变模型预测控制（LTVMPC）的双层模型预测控制（MPC）算法。在轨迹规划方面，以视线坐标系下的相对轨道动力学为模型、能量最少和控制精度最优为性能指标构建最优控制问题，利用GPM精度高、收敛速度快的特点将最优控制问题转化为易于求解的全局非线性规划问题，在MPC框架下求解得到全局最优的标称轨迹，克服了传统的MPC不适用于全局大范围非线性规划的缺点；在轨迹跟踪控制方面，考虑预测时域内状态转移矩阵的时变特性，设计了LTVMPC算法对标称轨迹进行追踪，避免了存在不确定性时轨迹的重规划，从而降低在线计算量，保证算法在线自主实施，并且采用滚动优化的策略使算法对不确定性具有鲁棒性。由于规划层和控制层考虑的约束相同，因此规划的轨迹是可控、可达的。数字仿真表明，在燃料消耗和交会时间等方面，提出的方法均显著优于传统的MPC方法，相较于传统的MPC方法，新算法的交会时间减少50%左右，燃料消耗降低30%以上。

关键词: 空间非合作目标, 视线(LOS)坐标系, 双层模型预测控制, 高斯伪谱法(GPM), 线性时变模型预测控制(LTVMPC)

Abstract: For the global optimal problem of trajectory planning and tracking control in ultra-close Line-of-Sight (LOS) rendezvous of non-cooperative targets, a double-layer Model Predictive Control (MPC) algorithm is proposed based on the Gaussian Pseudo-spectral Method (GPM) and Linear Time-Varying Model Predictive Control (LTVMPC). In the layer of trajectory planning, an optimization model is established with minimum fuel and optimal control accuracy as performance indicators. The global optimal nominal trajectory is obtained by the GPM method in the MPC framework, which overcomes the disadvantage that traditional MPC is not suitable for global large-scale nonlinear programming. In the layer of trajectory tracking control, considering the time-varying characteristics of the state transition matrix in the prediction horizon, LTVMPC is used to track the nominal trajectory, so as to avoid re-planning of the trajectory in the presence of uncertainty and thus reduce online calculation and ensure online autonomous implementation of the algorithm. Due to the same constraints considered by the planning layer and the control layer, the planning trajectory is controllable and reachable. The simulation results show that the proposed method is significantly better than the traditional MPC method in terms of fuel consumption and rendezvous time. Compared with those of the traditional method, the rendezvous time and fuel consumption based on the proposed method are reduced by about 50% and 30%, respectively.

Key words: non-cooperative space target, Line-of-Sight (LOS) coordinate system, double-layer model predictive control, Gaussian Pseudo-spectral Method (GPM), Linear Time-Varying Model Predictive Control (LTVMPC)

中图分类号:

V448.2

董凯凯, 罗建军, 马卫华, 高登巍, 谭龙玉. 非合作目标交会的双层MPC全局轨迹规划控制[J]. 航空学报, 2021, 42(11): 524903-524903.

DONG Kaikai, LUO Jianjun, MA Weihua, GAO Dengwei, TAN Longyu. Global trajectory planning and control of rendezvous of non-cooperative targets based on double-layer MPC[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(11): 524903-524903.

参考文献

[1] 孙冲, 袁建平, 万文娅, 等. 自由翻滚故障卫星外包络抓捕及抓捕路径优化[J]. 航空学报, 2018, 39(11):322192. SUN C, YUAN J P, WAN W Y, et al.Outside envelop grasping method and approaching trajectory optimization for tumbling malfunctional satellite capture[J]. Acta Aeronautica et Astronautica Sinica, 2018, 39(11):322192(in Chinese).
[2] LU P, LIU X. Autonomous trajectory planning for rendezvous and proximity operations by conic optimization[J]. Journal of Guidance, Control, and Dynamics, 2013, 36(2):375-389.
[3] 罗亚中. 空间最优交会路径规划策略研究[D]. 长沙:国防科学技术大学, 2007:73-81. LUO Y Z. Study on space optimal rendezvous trajectory planning approach[D]. Changsha:National University of Defense Technology, 2007:73-81(in Chinese).
[4] TANG G J, LUO Y Z, LI H Y. Optimal robust linearized impulsive rendezvous[J]. Aerospace Science and Technology, 2007, 11(7-8):563-569
[5] BOYARKO G, YAKIMENKO O, ROMANO M. Optimal rendezvous trajectories of a controlled spacecraft and a tumbling object[J]. Journal of Guidance, Control, and Dynamics, 2011, 34(4):1239-1252.
[6] 耿远卓, 李传江, 郭延宁, 等. 单推力航天器交会对接轨迹规划及跟踪控制[J]. 航空学报, 2020, 41(9):323880. GENG Y Z, LI C J, GUO Y N, et al.Rendezvous and docking of spacecraft with single thruster:Path planning and tracking control[J]. Acta Aeronautica et Astronautica Sinica, 2020, 41(9):323880(in Chinese).
[7] CAUBET A, BIGGS J D. An inverse dynamics approach to the guidance of spacecraft in close proximity of tumbling debris[C]//Proceedings of the International Astronautical Congress, 2015.
[8] VENTURA J, CIARCIÀ M, ROMANO M, et al. Fast and near-optimal guidance for docking to uncontrolled spacecraft[J]. Journal of Guidance, Control, and Dynamics, 2017, 40(12):3138-3154.
[9] 雍恩米, 陈磊, 唐国金. 飞行器轨迹优化数值方法综述[J]. 宇航学报, 2008, 29(2):397-406. YONG E M, CHEN L, TANG G J. A survey of numerical methods for trajectory optimization of spacecraft[J]. Journal of Astronautics, 2008, 29(2):397-406(in Chinese).
[10] CHAI R Q, SAVVARIS A, TSOURDOS A, et al. A review of optimization techniques in spacecraft flight trajectory design[J]. Progress in Aerospace Sciences, 2019, 109:100543.
[11] CHU X Y, ZHANG J R, LU S, et al. Optimised collision avoidance for an ultra-close rendezvous with a failed satellite based on the Gauss pseudospectral method[J]. Acta Astronautica, 2016, 128:363-376.
[12] 罗淑贞, 孙青林, 檀盼龙, 等. 基于高斯伪谱法的翼伞系统复杂多约束轨迹规划[J]. 航空学报, 2017, 38(3):320363. LUO S Z, SUN Q L, TAN P L, et al.Trajectory planning of parafoil system with intricate constraints based on Gauss pseudo-spectral method[J]. Acta Aeronautica et Astronautica Sinica, 2017, 38(3):320363(in Chinese).
[13] JIANG X Q, LI S, FURFARO R. Integrated guidance for Mars entry and powered descent using reinforcement learning and pseudospectral method[J]. Acta Astronautica, 2019, 163:114-129.
[14] GAVILAN F, VAZQUEZ R, CAMACHO E F. Chance-constrained model predictive control for spacecraft rendezvous with disturbance estimation[J]. Control Engineering Practice, 2012, 20(2):111-122.
[15] HARTLEY E N, TRODDEN P A, RICHARDS A G, et al. Model predictive control system design and implementation for spacecraft rendezvous[J]. Control Engineering Practice, 2012, 20(7):695-713.
[16] DI CAIRANO S, PARK H, KOLMANOVSKY I. Model predictive control approach for guidance of spacecraft rendezvous and proximity maneuvering[J]. International Journal of Robust and Nonlinear Control, 2012, 22, 1398-1427.
[17] LI Q, YUAN J P, ZHANG B, et al. Model predictive control for autonomous rendezvous and docking with a tumbling target[J]. Aerospace Science and Technology, 2017, 69:700-711.
[18] ZAGARIS C, PARK H, VIRGILI-LLOP J, et al. Model predictive control of spacecraft relative motion with convexified keep-out-zone constraints[J]. Journal of Guidance, Control, and Dynamics, 2018, 41(9):2054-2062.
[19] WEISS A, BALDWIN M, ERWIN R S, et al. Model predictive control for spacecraft rendezvous and docking:strategies for handling constraints and case studies[J]. IEEE Transactions on Control Systems Technology, 2015, 23(4):1638-1647.
[20] MAMMARELLA M, CAPELLO E, PARK H, et al. Tube-based robust model predictive control for spacecraft proximity operations in the presence of persistent disturbance[J]. Aerospace Science and Technology, 2018, 77:585-594.
[21] DONG K K, LUO J J, DANG Z H, et al. Tube-based robust output feedback model predictive control for autonomous rendezvous and docking with a tumbling target[J]. Advances in Space Research, 2020, 65(4):1158-1181.
[22] LI P, ZHU Z H. Line-of-sight nonlinear model predictive control for autonomous rendezvous in elliptical orbit[J]. Aerospace Science and Technology, 2017, 69:236-243.
[23] EREN U, PRACH A, KOÇER B B, et al. Model predictive control in aerospace systems:Current state and opportunities[J]. Journal of Guidance, Control, and Dynamics, 2017, 40(7):1541-1566.
[24] DANG Z H, ZHANG Y L. Formation control using μ-synthesis forinner-formation gravity measurement satellite system[J]. Advances in Space Research, 2012, 49(10):1487-1505.
[25] FEHSE W. Automated rendezvous and docking of spacecraft[M]. Cambridge:Cambridge University Press, 2003:21-22.

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

非合作目标交会的双层MPC全局轨迹规划控制

Global trajectory planning and control of rendezvous of non-cooperative targets based on double-layer MPC

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	王路桥王璐庄慧盈吴磊李青山田恒宇. 约束分级的飞行器任务指令序列编排方法[J]. 航空学报, 0, (): 0-0.
[2]	张得阳郑然程会艳孟小迪齐静雅李林林大泳. 一种提升空间暗弱目标探测灵敏度的方法[J]. 航空学报, 0, (): 0-0.
[3]	宁铠, 吴宝林. 基于事件驱动的航天器星下点轨迹维持控制[J]. 航空学报, 2024, 45(10): 329412-329412.
[4]	张依宁, 温昶煊, 庞博, 朱天昊, 何嘉欣, 金紫涵. 基于高精度回归共振的掩星观测轨道设计[J]. 航空学报, 2024, 45(8): 329151-329151.
[5]	张鸿林, 罗建军, 马卫华. 基于机器学习的航天器规避目标威胁博弈决策[J]. 航空学报, 2024, 45(8): 329136-329136.
[6]	郑伟, 王禹淞, 姜坤, 王奕迪. X射线脉冲星导航空间试验进展与展望[J]. 航空学报, 2024, 45(6): 28843-028843.
[7]	张赛, 杨震, 杜向南, 罗亚中. 基于轨道可达域的机动航天器接近威胁规避方法[J]. 航空学报, 2024, 45(4): 328778-328778.
[8]	刘传凯, 王沼翔, 雷俊雄, 张作宇, 樊宽刚, 张济韬, 王晓雪, 潘海朗, 刘建国. 基于松弛极线约束的月面复杂仿射变换图像匹配方法[J]. 航空学报, 2024, 45(2): 328659-328659.
[9]	方乐言, 蒙晗, 侯明哲. 带有参数精确估计的迭代学习滑模控制及应用[J]. 航空学报, 2024, 45(1): 628889-628889.
[10]	段广全, 刘国平. 基于全驱系统方法的组合航天器位姿自适应预设性能控制[J]. 航空学报, 2024, 45(1): 628837-628837.
[11]	鲁明, 陈雪芹, 吴凡, 曹喜滨. 基于二阶全驱系统的航天器姿态避障控制[J]. 航空学报, 2024, 45(1): 628958-628958.
[12]	刘明, 范睿超, 邱实, 曹喜滨. 基于全驱系统理论的航天器姿轨预设性能控制[J]. 航空学报, 2024, 45(1): 628313-628313.
[13]	段广仁. 亚严反馈系统镇定的全驱系统方法[J]. 航空学报, 2024, 45(1): 629552-629552.
[14]	王忠森, 廖宇新, 魏才盛, 戴婷. 高超声速飞行器快速终端滑模保性能容错控制[J]. 航空学报, 2023, 44(24): 328476-328476.
[15]	肖瑶, 郭帅, 杨震, 罗亚中. 序列式低轨星座全连通网络拓扑结构设计方法[J]. 航空学报, 2023, 44(24): 328600-328600.