引用本文:郭永,宋申民,李学辉.非合作交会对接的姿态和轨道耦合控制[J].控制理论与应用,2016,33(5):638~644.[点击复制]
GUO Yong,SONG Shen-min,LI Xue-hui.Attitude and orbit coupled control for non-cooperative rendezvous and docking[J].Control Theory and Technology,2016,33(5):638~644.[点击复制]
非合作交会对接的姿态和轨道耦合控制
Attitude and orbit coupled control for non-cooperative rendezvous and docking
摘要点击 3317  全文点击 2201  投稿时间：2015-08-28  修订日期：2016-06-18
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DOI编号  10.7641/CTA.2016.50709
  2016,33(5):638-644
中文关键词  滑模控制  非合作交会对接  避免碰撞  人工势函数
英文关键词  sliding mode control  non-cooperative rendezvous and docking  avoid collision  artificial potential function
基金项目  国家自然科学基金面上项目(61174037), 国家自然科学基金重点研究项目(NSFC-61333003)资助.
作者单位E-mail
郭永 哈尔滨工业大学 控制理论与制导技术研究中心 guoyonghit@126.com 
宋申民* 哈尔滨工业大学 控制理论与制导技术研究中心  
李学辉 哈尔滨工业大学 控制理论与制导技术研究中心  
中文摘要
      航天器与非合作目标进行交会对接时, 要求控制器能保证二者不发生碰撞. 然而, 针对航天器非合作交会 对接中的避碰问题, 还没有成熟的控制策略. 本文以服务航天器体坐标系为参考坐标系建立航天器相对姿态轨道耦 合运动模型, 利用滑模控制设计了一种姿态轨道耦合控制器实现交会对接. 通过利用人工势函数理论和基于蔓叶 线的虚拟障碍物模型, 控制器可以严格地保证服务航天器运行在安全区域内部, 避免与目标航天器碰撞. 通过李雅 普诺夫理论可以证明系统在控制器的作用下是渐近稳定的. 数值仿真进一步说明了所提出的控制器的有效性.
英文摘要
      The controller that can avoid collision is needed for the service spacecraft rendezvous and docking with the non-cooperative target spacecraft. However, there is not a sophisticated control strategy to avoid collision between the service spacecraft and non-cooperative target spacecraft. The coupling motion model of attitude and orbit is established on the service spacecraft body coordinate system in this paper. A controller with coupled attitude and orbit dynamics is developed to realize the rendezvous and docking with the non-cooperative target spacecraft by using sliding mode control. The coupled controller can ensure that the service spacecraft is strictly in the safety area to avoid collision with the noncooperative target spacecraft by using artificial potential function and virtual obstacles model established based on cissoid. The system under the coupled controller is asymptotically stable by Lyapunov theory. Numerical simulation is performed on the coupled model. Experimental results demonstrate the effectiveness of the proposed control scheme.