微小卫星自主编队控制及平台开发研究
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摘要
微小卫星编队飞行，可以达到与大型卫星相同甚至比大卫星具有更好的应用效果，例如应用于分布式雷达、电子侦察、三维立体成像以及空间干涉仪等领域。本文针对微小卫星编队飞行中的分布式自主控制问题进行了研究，并进行了系统仿真及理论验证，最后设计了编队飞行的半物理验证平台，主要研究内容和创新性成果如下：
(1)分析了卫星姿态及相对运动的理论，并给出了卫星编队的运动学及动力学模型，建立了C-W方程及相对轨道根数法的编飞方程，根据相对运动的解析解对编飞条件进行了分析；
(2)提出了一种基于绳系的微小卫星旋转编队方法，通过系绳来维持编队卫星间的构型，并采用整体自旋的方式达到稳定。针对不同系绳控制方式及辅助策略分析了其稳定性，最后根据仿真结果得到最优的控制策略；
(3)提出了一种采用大气阻力进行编队控制的方法，本方法通过对卫星结构进行改造，采用四块气动板实现了利用大气阻力进行编队队形控制及姿态控制的方法，并针对速率阻尼、三轴稳定、队形建立及队形重构进行了控制效果验证，该方法具有结构简单、无污染、绿色可再生性等特点；
(4)将信息一致性理论应用至微小卫星编队控制问题中，首先针对相对位置控制，提出一种一致性协同控制方法，适用于空间交会对接及队形引导等编队问题；其次针对卫星姿态同步及姿态跟踪问题，给出了信息一致性的解决方案，适合于编队卫星自主协同任务作业等方面；
(5)将对偶四元数应用至编队飞行问题。对偶四元数作为一种新的数学工具已经在机械及视觉领域发挥着作用，它具有能将姿态与位置进行统一描述的能力，非常适合卫星编队飞行这种对于轨道及姿态都有要求的应用领域，本文根据对偶四元数建立了卫星运动学模型，并给出了更新方法，最后开创性地将其与信息一致性理论进行结合，成功应用至编队飞行的控制问题，实现了编队卫星相对运动及姿态的协同控制；
(6)设计了一套编队卫星半物理仿真平台，采用多台PC104系统模拟多个编队卫星。该系统可以用来开发卫星管理软件以及验证编队控制算法效果，其地面终端及系统间的通信网络可以用来验证信息一致性算法；
(7)在VxWorks操作系统基础上，采用卫星管理与姿轨控一体化的软件设计思想，开发了嵌入式软件，提高系统集成度，更适用于微小卫星应用；同时软件采用模块化层次化设计，方便移植，提高了可靠性；设计了软件模块的在轨更新策略，利用星地链路通道可以进行软件模块的在轨更新，提高了软件灵活性，延长了卫星寿命。
本文的研究在微小卫星的编队问题上具有一定的理论价值，同时对于程应用研究具有技术支撑。
Micro-satellite formation flying, can achieve the same or even better application effects compareto large satellite, such as distributed radar, electronic reconnaissance, three-dimensional imaging andspace interferometer et al. In this paper, research of distributed micro-satellite autonomouslyformation flying control problem was carried out with simulation and theoretical validation, finallydesigned a semi-physical verification platform of formation flying, the main research content andinnovative results are as follows:
(1) studied the theory of satellite attitude and the relative motion, then gave the satellite formationmodel in kinematics and dynamics, provided equations of the C-W method and the relative orbitalelements, analyzed formation flying conditions based on analytic solution of relative movement;
(2) proposed a system of micro-satellite rotation formation method based on tether, the tether wasused to maintain the formation shape and spin provided stabilization. Analysed stability of differenttether control and auxiliary strategy, finally optimal control strategy carried out based on simulationresults;
(3) proposed a formation control method by atmospheric drag, this method depended on specificstructure of satellite, with four drag panels formation control and attitude control was realized usingatmospheric drag, and control effect was proved for the rate of damping, three-axis stabilization,formation establishment and formation reconstruction, it showed that the method is simple, clean,green and renewable;
(4) information consensus theory was applied to the micro-satellite formation control problems,consistency of cooperative control method is proposed for relative position control, it suit for spacerendezvous and docking and formation construct; as for satellite attitude synchronization and attitudetracking problem, it gave solutions based on information consensus, the theory was suit forcollaborative task of independently formation satellite and other aspect;
(5) dual quaternion was applied to formation flying. Dual quaternion as a new mathematical toolhas been used in the field of mechanical and graphic visual, it is able to describe attitude and positionwith a unified form, ideal for satellite formation flying which require orbit and attitude information,this paper established a satellite kinematics model based on the dual quaternion, and gave the updatemethod, at last information consensus will be combined with dual quaternion in formation flyingcontrol problem, to achieve the attitude and relative movement control of formation satellite.
(6) designed a semi-physical simulation platform of satellite formation, multiple satellite weresimulated by PC104system. The system be used to develop satellite management software andvalidate the formation control algorithm effect, the ground terminal and communication networksystem can be used to verify the information consensus theory.
(7) based on VxWorks operating system a embedded software was developed integrated withsatellite management and attitude orbit control, it increased system integration, more suitable formicro-satellite applications; and the software is modular designed, it is easy to transplant and withmore reliability; designed software modules in-orbit update strategy, using satellite ground links toupdate software modules in-orbit, it improved software flexibility and extended satellite’s life.
This study has a certain theoretical value in micro-satellite formation problem, also gave technicalsupport for the engineering application.
(1)分析了卫星姿态及相对运动的理论，并给出了卫星编队的运动学及动力学模型，建立了C-W方程及相对轨道根数法的编飞方程，根据相对运动的解析解对编飞条件进行了分析；
(2)提出了一种基于绳系的微小卫星旋转编队方法，通过系绳来维持编队卫星间的构型，并采用整体自旋的方式达到稳定。针对不同系绳控制方式及辅助策略分析了其稳定性，最后根据仿真结果得到最优的控制策略；
(3)提出了一种采用大气阻力进行编队控制的方法，本方法通过对卫星结构进行改造，采用四块气动板实现了利用大气阻力进行编队队形控制及姿态控制的方法，并针对速率阻尼、三轴稳定、队形建立及队形重构进行了控制效果验证，该方法具有结构简单、无污染、绿色可再生性等特点；
(4)将信息一致性理论应用至微小卫星编队控制问题中，首先针对相对位置控制，提出一种一致性协同控制方法，适用于空间交会对接及队形引导等编队问题；其次针对卫星姿态同步及姿态跟踪问题，给出了信息一致性的解决方案，适合于编队卫星自主协同任务作业等方面；
(5)将对偶四元数应用至编队飞行问题。对偶四元数作为一种新的数学工具已经在机械及视觉领域发挥着作用，它具有能将姿态与位置进行统一描述的能力，非常适合卫星编队飞行这种对于轨道及姿态都有要求的应用领域，本文根据对偶四元数建立了卫星运动学模型，并给出了更新方法，最后开创性地将其与信息一致性理论进行结合，成功应用至编队飞行的控制问题，实现了编队卫星相对运动及姿态的协同控制；
(6)设计了一套编队卫星半物理仿真平台，采用多台PC104系统模拟多个编队卫星。该系统可以用来开发卫星管理软件以及验证编队控制算法效果，其地面终端及系统间的通信网络可以用来验证信息一致性算法；
(7)在VxWorks操作系统基础上，采用卫星管理与姿轨控一体化的软件设计思想，开发了嵌入式软件，提高系统集成度，更适用于微小卫星应用；同时软件采用模块化层次化设计，方便移植，提高了可靠性；设计了软件模块的在轨更新策略，利用星地链路通道可以进行软件模块的在轨更新，提高了软件灵活性，延长了卫星寿命。
本文的研究在微小卫星的编队问题上具有一定的理论价值，同时对于程应用研究具有技术支撑。
Micro-satellite formation flying, can achieve the same or even better application effects compareto large satellite, such as distributed radar, electronic reconnaissance, three-dimensional imaging andspace interferometer et al. In this paper, research of distributed micro-satellite autonomouslyformation flying control problem was carried out with simulation and theoretical validation, finallydesigned a semi-physical verification platform of formation flying, the main research content andinnovative results are as follows:
(1) studied the theory of satellite attitude and the relative motion, then gave the satellite formationmodel in kinematics and dynamics, provided equations of the C-W method and the relative orbitalelements, analyzed formation flying conditions based on analytic solution of relative movement;
(2) proposed a system of micro-satellite rotation formation method based on tether, the tether wasused to maintain the formation shape and spin provided stabilization. Analysed stability of differenttether control and auxiliary strategy, finally optimal control strategy carried out based on simulationresults;
(3) proposed a formation control method by atmospheric drag, this method depended on specificstructure of satellite, with four drag panels formation control and attitude control was realized usingatmospheric drag, and control effect was proved for the rate of damping, three-axis stabilization,formation establishment and formation reconstruction, it showed that the method is simple, clean,green and renewable;
(4) information consensus theory was applied to the micro-satellite formation control problems,consistency of cooperative control method is proposed for relative position control, it suit for spacerendezvous and docking and formation construct; as for satellite attitude synchronization and attitudetracking problem, it gave solutions based on information consensus, the theory was suit forcollaborative task of independently formation satellite and other aspect;
(5) dual quaternion was applied to formation flying. Dual quaternion as a new mathematical toolhas been used in the field of mechanical and graphic visual, it is able to describe attitude and positionwith a unified form, ideal for satellite formation flying which require orbit and attitude information,this paper established a satellite kinematics model based on the dual quaternion, and gave the updatemethod, at last information consensus will be combined with dual quaternion in formation flyingcontrol problem, to achieve the attitude and relative movement control of formation satellite.
(6) designed a semi-physical simulation platform of satellite formation, multiple satellite weresimulated by PC104system. The system be used to develop satellite management software andvalidate the formation control algorithm effect, the ground terminal and communication networksystem can be used to verify the information consensus theory.
(7) based on VxWorks operating system a embedded software was developed integrated withsatellite management and attitude orbit control, it increased system integration, more suitable formicro-satellite applications; and the software is modular designed, it is easy to transplant and withmore reliability; designed software modules in-orbit update strategy, using satellite ground links toupdate software modules in-orbit, it improved software flexibility and extended satellite’s life.
This study has a certain theoretical value in micro-satellite formation problem, also gave technicalsupport for the engineering application.
引文
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