The invention provides a directed communication pilot following spacecraft formation simplified attitude distribution cooperative control method, which comprises the following steps of: firstly, describing simplified attitude motion of a spacecraft under a unit celestial coordinate system, and converting the simplified attitude motion into translation of an aiming vector end point on a unit celestial surface; secondly, designing a distributed cooperative virtual control quantity under directed communication topology according to a consistency theory, ensuring that the aiming vector of the following spacecraft converges to an inertial space fixed direction determined by the aiming vector of the pilot spacecraft, and then calculating an ideal angular velocity vector of the following spacecraft according to the virtual control quantity; then, the difference between the angular velocity vector of the following spacecraft and the ideal angular velocity vector serves as a sliding mode variable, and a sliding mode surface is designed; and finally, designing a distributed cooperative control law of the following spacecraft based on a super-distortion second-order sliding mode control method. The method can ensure that the aiming vector of the following spacecraft of the directed communication formation converges to the aiming vector of the pilot spacecraft fixed in the inertial space in a disturbance environment, and reduces the formation communication traffic.
本发明提出了一种有向通信领航跟随航天器编队简化姿态分布协同控制方法,首先在单位天球坐标系下描述航天器的简化姿态运动,将简化姿态运动转化为单位天球面上瞄准矢量终点的平动;其次根据一致性理论设计有向通信拓扑下的分布式协同虚拟控制量,确保跟随航天器瞄准矢量收敛到领航航天器瞄准矢量所确定的惯性空间固定指向,然后根据虚拟控制量计算出跟随航天器的理想角速度矢量;之后将跟随航天器的角速度矢量与理想角速度矢量之差作为滑模变量,设计滑模面;最后基于超扭曲二阶滑模控制方法设计跟随航天器的分布式协同控制律。本发明能够在扰动环境下确保有向通信编队的跟随航天器瞄准矢量收敛到在惯性空间固定的领航航天器瞄准矢量,降低编队通信量。
Directed communication pilot following spacecraft formation simplified attitude distribution cooperative control method
有向通信领航跟随航天器编队简化姿态分布协同控制方法
2023-06-06
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
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