航空学报 > 2014, Vol. 35 Issue (9): 2605-2614   doi: 10.7527/S1000-6893.2013.0017

应用非线性模型预测控制的绳系卫星Halo轨道保持控制

刘刚, 李传江, 马广富   

  1. 哈尔滨工业大学 航天学院, 黑龙江 哈尔滨 150001
  • 收稿日期:2013-12-03 修回日期:2014-03-10 出版日期:2014-09-25 发布日期:2014-03-25
  • 通讯作者: 马广富,Tel.:0451-86402726 E-mail:magf@hit.edu.cn E-mail:magf@hit.edu.cn
  • 作者简介:刘刚 男,博士研究生。主要研究方向:航天器轨道及姿态控制。Tel:0451-86413411-8606 E-mail:liugang19851114@gmail.com;李传江 男,博士,副教授。主要研究方向:航天器姿态控制,最优控制。Tel:0451-86402726 E-mail:chuanjiangli@gmail.com;马广富 男,博士,教授,博士生导师。主要研究方向:卫星姿态控制,最优控制。Tel:0451-86402726 E-mail:magf@hit.edu.cn
  • 基金资助:

    国家自然科学基金(61304005)

Station-keeping of Tethered Satellite System Around a Halo Orbit Using Nonlinear Model Predictive Control

LIU Gang, LI Chuanjiang, MA Guangfu   

  1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China
  • Received:2013-12-03 Revised:2014-03-10 Online:2014-09-25 Published:2014-03-25
  • Supported by:

    National Natural Science Foundation of China (61304005)

摘要:

针对哑铃型绳系卫星在圆形限制性三体问题(CRTBP)中的Halo轨道保持控制问题,应用非线性模型预测控制(NMPC)方法设计了Halo轨道保持控制器。首先采用摄动法得到目标Halo轨道,通过跟踪目标轨道上一运动点,将其转化为目标跟踪控制问题,然后设计非线性模型预测控制器对其进行跟踪控制。利用4阶Ronge-Kutta法对原非线性模型进行离散化,将预测控制中的有限时域最优问题转化为非线性规划问题进行求解,得到下一周期的控制量。最后通过数值仿真验证了即使在初始位置偏差较大的情况下,所设计的控制器只需要很少的速度增量就可使绳系卫星系统运动至目标轨道,并精确地保持在目标轨道上。

关键词: 圆形限制性三体问题, 绳系卫星, 模型预测控制, 非线性规划, 轨道保持控制

Abstract:

The nonlinear model predictive control (NMPC) method is employed to design the controller for the station-keeping mission around Halo orbits of dumbbell tethered satellites in the circular restricted three-body problem (CRTBP). First, the target Halo orbit is obtained using the perturbation method. The station-keeping control problem is translated into a tracking control problem by tracking a target point moving along the reference orbit. Then, the original system model is discretized by the fourth-order Ronge-Kutta method. The finite horizon optimal control problem is transformed into a nonlinear optimization problem and solved by nonlinear programming, which then provides the control input for the next control period. Finally, the numerical simulation results demonstrate that even in the case of large initial position deviation, the controller can still guarantee that the tethered satellite system move along the target orbit precisely with relatively small velocity increment.

Key words: circular restricted three-body problem, tethered satellite, model predictive control, nonlinear programming, station-keeping control

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