空间站零燃料大角度姿态机动方法
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摘要
空间站姿态控制技术是实施空间站工程需要突破的关键技术,空间站零燃料大角度姿态机动是当前在国际空间站得到应用的先进姿态机动控制概念。本文以我国空间站工程任务为背景,较为系统地研究了空间站零燃料大角度姿态机动问题中的力矩平衡姿态、姿态机动路径规划、关键参数分析与优化及Simulink仿真验证等问题。全文主要研究成果如下:
改进了力矩平衡姿态的求解方法。1)推导了瞬时力矩平衡姿态的解析解,建立了瞬时力矩平衡姿态与构型参数的显式解析关系,从而为空间站的构型设计提供重要的指导意义;2)推导了平均和动态力矩平衡姿态的求解方程,并通过数值仿真验证了平均和动态力矩平衡姿态作为空间站长期在轨运行姿控模式的有效性。
研究了零燃料姿态机动路径规划。1)采用无约束且不易出现奇异的修正罗德里格斯参数建立了姿态机动路径规划模型,包括动力学模型、约束条件及目标函数;2)采用直接打靶法与Gauss伪谱法对零燃料姿态机动路径规划问题进行求解,并对两种算法的求解效率进行了对比分析;3)设计了转换目标函数的分步优化策略,实现了零燃料消耗和特定姿态指向规避的能量最优姿态机动。
完成了零燃料姿态机动关键参数分析与优化。1)分析了机动时间、轨道、构型、空间环境等关键参数对姿态机动过程中的角动量峰值、最大控制力矩和能量消耗等性能指标的影响;2)将参数作为优化变量,求解了零燃料姿态机动的单参数优化和多参数组合优化问题;3)基于物理规划方法求解了满足不同偏好结构的多目标最优参数及姿态机动路径。
开展了零燃料姿态机动Simulink仿真验证。1)设计和开发了零燃料姿态机动仿真模型,构建了数据初始化、姿态动力学与控制、空间环境和数据输出等模块;2)对空间站零燃料大角度姿态机动过程进行了Simulink仿真验证。
论文以我国空间站工程任务为背景,系统开展了零燃料大角度姿态机动的分析理论与设计方法研究。论文为空间站等大型航天器大角度姿态机动控制提供了创新性思路和途径,研究成果对于空间站在轨运行减少燃料消耗、延长寿命、提高安全性具有重要实践价值。
Space station attitude control technology is essential for space station project. Zero-propellant maneuver is an advanced concept of space station attitude maneuver control, which has been applied to International Space Station recently. With the background of preliminary tasks of the Chinese Space Station project, this dissertation studies torque equilibrium attitude of space station, attitude maneuver path planning, analysis and optimization of key parameters, and simulation demonstration based on Simulink. The main achievements obtained in this dissertation are summarized as follows.
The calculation method of torque equilibrium attitude is improved. 1) The analytical solution of instantaneous torque equilibrium attitude is deduced, the explicit relation between the instantaneous torque equilibrium attitude and the configuration parameters is established, which provides valuable suggestions for the space station configuration design; 2) The calculation formula of the average and dynamic torque equilibrium attitude are deduced. The average and dynamic torque equilibrium attitude can be used as on-orbit attitude control modes with a long period, whose effectivity has been proved by simulation results.
The attitude path planning of zero-propellant maneuver is studied. 1) The model of attitude maneuver path planning is established by the modified rodrigues parameter, which has no constrains and does not incline to be singular. Path planning model contains the dynamic model, constrain conditions and cost functions; 2) The problem of attitude maneuver path planning is solved by the direct shooting method and the Gauss pseudospectral method, and efficiencies of these two methods are compared and analyzed; 3) A solving strategy of two-steps conversion of cost functions is designed. With this strategy, the large-angle optimal attitude path for space station is obtained, which consumes no propellant and uses least energy, with the geometry constrain satisfied.
The key parameters analysis and optimization of zero-propellant maneuver are finished. 1) The influence on performance criteria caused by the key parameters is analyzed. The key parameters contain maneuver time, orbit elements, configuration and environment parameters. The performance criteria contain the peak momentum of control torque gyroscopes, the maximal control torque and energy consumption; 2) Defining the key parameters as optimal variables, the single parameter and multi-parameter optimization problems of zero-propellant maneuver are solved; 3) Physical programing method is used to solve the multi-objective optimal parameters and attitude path that satisfies different preference structures.
The simulation demonstration of zero-propellant maneuver based on Simulink is executed. 1) The zero-propellant maneuver simulation model is designed and established, and the parameters initialization, attitude dynamics and control, space environment and data display modules are constructed; 2) The simulation demonstration of zero-propellant large-angle attitude maneuver based on Simulink is executed.
With the background of the Chinese Space Station project, this dissertation investigates the analysis theory and design method of zero-propellant large-angle attitude maneuver. The dissertation provides some new thoughts and approaches for the large-angle maneuver of space station and large-scale spacecrafts. The research results have practical significance for reducing fuel consumption, prolonging on-orbit time and enhancing the safety of space station.
改进了力矩平衡姿态的求解方法。1)推导了瞬时力矩平衡姿态的解析解,建立了瞬时力矩平衡姿态与构型参数的显式解析关系,从而为空间站的构型设计提供重要的指导意义;2)推导了平均和动态力矩平衡姿态的求解方程,并通过数值仿真验证了平均和动态力矩平衡姿态作为空间站长期在轨运行姿控模式的有效性。
研究了零燃料姿态机动路径规划。1)采用无约束且不易出现奇异的修正罗德里格斯参数建立了姿态机动路径规划模型,包括动力学模型、约束条件及目标函数;2)采用直接打靶法与Gauss伪谱法对零燃料姿态机动路径规划问题进行求解,并对两种算法的求解效率进行了对比分析;3)设计了转换目标函数的分步优化策略,实现了零燃料消耗和特定姿态指向规避的能量最优姿态机动。
完成了零燃料姿态机动关键参数分析与优化。1)分析了机动时间、轨道、构型、空间环境等关键参数对姿态机动过程中的角动量峰值、最大控制力矩和能量消耗等性能指标的影响;2)将参数作为优化变量,求解了零燃料姿态机动的单参数优化和多参数组合优化问题;3)基于物理规划方法求解了满足不同偏好结构的多目标最优参数及姿态机动路径。
开展了零燃料姿态机动Simulink仿真验证。1)设计和开发了零燃料姿态机动仿真模型,构建了数据初始化、姿态动力学与控制、空间环境和数据输出等模块;2)对空间站零燃料大角度姿态机动过程进行了Simulink仿真验证。
论文以我国空间站工程任务为背景,系统开展了零燃料大角度姿态机动的分析理论与设计方法研究。论文为空间站等大型航天器大角度姿态机动控制提供了创新性思路和途径,研究成果对于空间站在轨运行减少燃料消耗、延长寿命、提高安全性具有重要实践价值。
Space station attitude control technology is essential for space station project. Zero-propellant maneuver is an advanced concept of space station attitude maneuver control, which has been applied to International Space Station recently. With the background of preliminary tasks of the Chinese Space Station project, this dissertation studies torque equilibrium attitude of space station, attitude maneuver path planning, analysis and optimization of key parameters, and simulation demonstration based on Simulink. The main achievements obtained in this dissertation are summarized as follows.
The calculation method of torque equilibrium attitude is improved. 1) The analytical solution of instantaneous torque equilibrium attitude is deduced, the explicit relation between the instantaneous torque equilibrium attitude and the configuration parameters is established, which provides valuable suggestions for the space station configuration design; 2) The calculation formula of the average and dynamic torque equilibrium attitude are deduced. The average and dynamic torque equilibrium attitude can be used as on-orbit attitude control modes with a long period, whose effectivity has been proved by simulation results.
The attitude path planning of zero-propellant maneuver is studied. 1) The model of attitude maneuver path planning is established by the modified rodrigues parameter, which has no constrains and does not incline to be singular. Path planning model contains the dynamic model, constrain conditions and cost functions; 2) The problem of attitude maneuver path planning is solved by the direct shooting method and the Gauss pseudospectral method, and efficiencies of these two methods are compared and analyzed; 3) A solving strategy of two-steps conversion of cost functions is designed. With this strategy, the large-angle optimal attitude path for space station is obtained, which consumes no propellant and uses least energy, with the geometry constrain satisfied.
The key parameters analysis and optimization of zero-propellant maneuver are finished. 1) The influence on performance criteria caused by the key parameters is analyzed. The key parameters contain maneuver time, orbit elements, configuration and environment parameters. The performance criteria contain the peak momentum of control torque gyroscopes, the maximal control torque and energy consumption; 2) Defining the key parameters as optimal variables, the single parameter and multi-parameter optimization problems of zero-propellant maneuver are solved; 3) Physical programing method is used to solve the multi-objective optimal parameters and attitude path that satisfies different preference structures.
The simulation demonstration of zero-propellant maneuver based on Simulink is executed. 1) The zero-propellant maneuver simulation model is designed and established, and the parameters initialization, attitude dynamics and control, space environment and data display modules are constructed; 2) The simulation demonstration of zero-propellant large-angle attitude maneuver based on Simulink is executed.
With the background of the Chinese Space Station project, this dissertation investigates the analysis theory and design method of zero-propellant large-angle attitude maneuver. The dissertation provides some new thoughts and approaches for the large-angle maneuver of space station and large-scale spacecrafts. The research results have practical significance for reducing fuel consumption, prolonging on-orbit time and enhancing the safety of space station.
引文
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[5] Varatharajoo R. A Combined Energy and Attitude Control System for Small Satellites [J]. Acta Astronautica, 2004, 54: 701-712.
[6]张军,徐世杰.采用VSCMG的航天器IPACS设计的一种投影矩阵方法[J].宇航学报, 2006, 27(4): 609-615.
[7]贾英宏.航天器姿态与能量一体化控制研究[D].哈尔滨工业大学, 2004.
[8] Zhang Jun, Xu Shi-jie. Discrete Steering Law of Variable-speed Control Moment Gyros in Intergrated Power/Attitude Control System[C]. Proceedings of the 11th International Space Conference of Pacific-basin Societies, 2007: 334-341.
[9]周黎妮,考虑动量管理和能量存储的空间站姿态控制研究[D].长沙:国防科技大学,2010.
[10] Roithmayr C M, et al. Dynamics and Control of Attitude, Power, and Momentum for a Spacecraft Using Flywheels and Control Moment Gyroscopes[R]. NASA/TP-2003-212178.
[11] Bedrossian N, Bhatt S, Zero-Propellant Maneuver Guidance [J]. IEEE Control Systems Magazine, 53-73 2009(10).
[12] Bedrossian N, Bhatt S. Space Station Zero-Propellant Maneuver Guidance Trajectories Compared To Eigenaxis [C]. 2008 American Control Conference 2008.
[13] Bedrossian N, Bhatt S, et al. First Ever Flight Demonstration of Zero Propellant Maneuver Attitude Control Concept [C]. 2007 AIAA GN&C Conference, AIAA Paper 2007-6734.
[14] Bennett G J, Sebelius K P, Barth A L. ISS Russian Segment Motion Control System Operating Strategy During Orbiter Repair Maneuver[C]. AIAA Paper 2005-5855.
[15] Nguyen L H, et al. Shuttle Return to Flight: On-Orbit GN&C and RoboticSystem Operation Overview [C]. AIAA 2005-5850.
[16] Bedrossian N, Jang J W, Alaniz A. International Space Station US&C Attitude Hold Controller Design for Orbiter Repair Maneuver [C]. AIAA Paper 2005-5853.
[17] Chubb W B, Seltzer S M. Skylab Attitude and Pointing Control System[R]. NASA TN D-6068, February 1971.
[18] Coon T R, Irby J E. Skylab Attitude Control System [J]. IBM Journal of Research and Development, 1976, 20(1):58-66.
[19] Bedrossian N, Metzinger R, Adams N. Centralized Momentum Management[R]. Draper Lab Presentation, 1996.
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