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脉冲推力下多星协同搬运的预测博弈控制

柴源,罗建军,王明明   

  1. 西北工业大学
  • 收稿日期:2021-07-16 修回日期:2021-09-14 出版日期:2021-09-22 发布日期:2021-09-22
  • 通讯作者: 罗建军
  • 基金资助:
    西北工业大学博士创新基金;国家自然科学基金;国家自然科学基金;国家自然科学基金

Predictive game control for on-orbit transporting by multiple microsatellites under impulsive thrust

  • Received:2021-07-16 Revised:2021-09-14 Online:2021-09-22 Published:2021-09-22
  • Contact: Jian-Jun LUO
  • Supported by:
    Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University;National Natural Science Foundation of China;National Natural Science Foundation of China;National Natural Science Foundation of China

摘要: 在轨装配过程中,为了将装配结构运输到装配主体结构附近的期望位置,利用多个微小卫星进行协同搬运。针对多星协同搬运的轨道转移控制问题,为满足多种控制约束的同时减少星载燃料和通信资源消耗,研究了脉冲推力下的多星自主博弈控制方法。考虑到各个微小卫星的独立性和协同性,以相对轨道动力学为模型、以控制精度和能量消耗的二次型为局部目标函数构建多星博弈问题,个体能够通过局部目标函数的优化获得控制策略,避免了传统集中式方法所需的控制分配。鉴于微小卫星的控制能力以及通信能力,引入脉冲推力形式并将其与控制幅值约束合并描述为存在周期及幅值限制的力约束,与避免干扰姿态的力矩约束一起作为多星博弈问题的控制约束,相较于连续推力形式便于实施。在多约束博弈求解方面,设计了预测博弈控制算法来分布式地逼近纳什均衡策略,将计算负担分散在各个微小卫星之间的同时提高了方法的容错性。最后,数值仿真表明,所提出的脉冲推力下的预测博弈控制方法能够在满足多种控制约束条件下使得装配结构达到期望状态,在燃料消耗和通信压力等方面显著优于传统集中式方法。

关键词: 协同搬运, 微分博弈, 脉冲推力, 模型预测控制, 微小卫星

Abstract: During on-orbit assembly, in order to transport the assembly structure to the desired location near the main assembly structure, multiple microsatellites are employed to transport the assembly structure collaboratively. Aiming at the orbit transfer control problem of cooperative transportation, the game-based control method under impulse thrust is studied to meet several control constraints and reduce the consumption of onboard resources. Considering the independence and cooperativity of microsatellites, a game model for cooperative transportation is constructed by taking the relative orbital dynamics as the model and the quadratic form of control accuracy and energy consumption as the local objec-tive function. Microsatellites can optimize the local objective function to obtain the control strategy, avoiding the control allocation required by the traditional centralized method. In view of the control ability and communication ability of mi-crosatellites, the impulse thrust is introduced, which is easier to implement than the continuous thrust form. It is com-bined with the control amplitude constraint as a force constraint with periodic and amplitude restriction and taken to-gether with the torque constraint to avoid disturbing the attitude as the control constraints of the game model. In order to solve the multi-constraint game problem, a predictive game control algorithm is designed to approach the Nash equilibrium strategy in a distributed manner, which disperses the computational burden among microsatellites and improves the fault tolerance of the method. Finally, numerical simulation shows that the proposed predictive game control method under impulse thrust can effectively deal with several constraints, and is significantly better than the traditional centralized method in terms of fuel consumption and communication pressure.

Key words: Collaborative transporting, Differential game, Impulse thrust, Model predictive control, Microsatellite

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