基于螺旋理论描述的空间相对运动姿轨同步控制
收稿日期: 2015-09-03
修回日期: 2015-11-16
网络出版日期: 2015-12-21
基金资助
国家自然科学基金（11472213）；航空科学基金
Synchronization control of relative motion for spacecraft with screw theory-based description
Received date: 2015-09-03
Revised date: 2015-11-16
Online published: 2015-12-21
Supported by
National Natural Science Foundation of China (11472213); Aeronautical Science Foundation of China
对于姿轨运动存在严重耦合的空间相对接近操作，必须解决相对运动的姿轨同步控制问题。传统的相对姿轨分开建模串行控制方法，忽略了姿轨耦合，控制周期长且姿轨同步性差，显然不能满足要求。基于螺旋理论中的对偶数描述，建立了航天器六自由度相对运动模型，不仅包含了姿轨耦合项，而且形式统一有利于同步控制律的设计。针对模型中的耦合项进行分析，给出了相对姿轨耦合产生的成因。建立了相对姿轨同步误差，考虑模型的非线性，基于非线性反馈设计了一种同步控制律以消除该误差，并利用Lyapunov理论证明了控制律的稳定性。以两航天器交会接近的最后逼近段进行数字仿真，并与PD控制相对比，验证了所提方法的有效性，同时验证了所提方法可以实现姿轨控制的同步收敛，对于空间相对运动的姿轨同步操作具有重要意义。
朱战霞 , 马家瑨 , 樊瑞山 . 基于螺旋理论描述的空间相对运动姿轨同步控制[J]. 航空学报, 2016 , 37(9) : 2788 -2798 . DOI: 10.7527/S1000-6893.2015.0334
For the approaching operations with intensity coupling between position and attitudes, precise synchronization control of relative translation and rotation is one of the essentials to be solved. Traditionally, translation and rotation motion are modeled and controlled separately, in which the coupling between relative position and attitudes is ignored, so the control period is long and the synchronization cannot be guaranteed. This paper investigates the synchronization control problem of spacecraft relative motion. A six-degree-of-freedom relative motion model is proposed using the dual-number representation of screw theory,which can not only describe the coupling effect between the translational movement and the rotational one, but also make the model of translation and rotation in the same style to the benefits of designing controller easy. The causes of couple forming are presented after analyzing the coupling term of the relative motion model. A synchronization error constructed by the relative translation and rotation is introduced. A synchronization control law is designed based on nonlinear feedback to eliminate the error, and its stability is proved by Lyapunov methods. Choosing the final approaching phase of docking and rendezvous to make numerical simulation, the results demonstrate the validity of the proposed method by comparing with PD controller. Meanwhile, it is proved that the proposed method can achieve synchronous convergence of the attitudes and orbit control, which has important implications for the required attitudes and orbit synchronization operations.
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