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研究了航天器空间任意方位快速绕飞与监测的相对姿轨耦合控制问题。通过合理绕飞参考系和期望姿态系的定义,将问题转化为绕飞参考系内的相对姿轨跟踪控制。通过设计航天器期望相对位置矢量和求取期望姿态运动规律,建立了符合航天器空间一般物理运动规律的相对运动与姿态指向模型,并给出相应控制律。仿真中以实现与目标轨道异面的快速圆绕飞为例,同时考虑绕飞航天器初始位置不在绕飞面的情况,设计了期望相对位置矢量的运动规律,并加入指数函数引导相对姿轨平滑过渡。考虑相对姿轨控制的强耦合性,绕飞航天器采用冗余推力器配置,并引入伪逆法实现控制指令的动态分配。最后针对示例的数值和可视化仿真验证了算法的正确性。
The relative attitude and attitude coupling control problem of spacecraft flying around the spacecraft in any direction is studied. Through the definition of reasonable reference frame and desired attitude system, the problem is transformed into the relative attitude tracking control around the reference frame. By designing the relative position vector of the spacecraft and obtaining the expected motion law of the desired attitude, a relative motion and attitude pointing model that accords with the general physical motion law of the spacecraft is established, and the corresponding control law is given. In the simulation, the fast circular flywheel with the opposite trajectory of the target orbit is taken as an example. At the same time, considering the initial position of the orbiting spacecraft is not around the flying plane, the motion law of the desired relative position vector is designed and the exponential function is used to guide the relative attitude Smooth transition. Considering the strong coupling of relative orbit control, the configuration of redundant thrusters around the spacecraft is used, and the pseudo-inverse method is introduced to realize the dynamic allocation of control commands. Finally, the correctness of the algorithm is verified by numerical and visual simulation of the examples.