CN106020217B - A kind of towing using spool control becomes the antiwind collision-proof method of rail - Google Patents
A kind of towing using spool control becomes the antiwind collision-proof method of rail Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of towings using spool control to become the antiwind collision-proof method of rail, consider that both ends posture and the assembly of tether relaxation become rail kinetic model by foundation, establish the spool Controlling model and winding model of tether, design the spool control law of anticollision/winding, design platform attitude control law realizes that towing becomes the antiwind anticollision of rail；For the present invention is compared to the previous model for considering spacecraft attitude, it can be applied not only to tether tensioning state and be readily applicable to tether relaxation cases.The present invention devises spool control law to adjust tether tension.This specific thrust filtering technique more carries out directly and more initiatively tension force, while nor affecting on the application of conventional art.Therefore, which can undoubtedly mitigate the burden of platform thrust, and Track desigh is also made to have the degree of freedom of bigger.
Description
【Technical field】
It is that spacecraft maneuver becomes rail research field the invention belongs to restrict, and in particular to robot of space rope system is in towing target
The anti-tangle winding method of anticollision during body.
【Background technology】
The track rubbish towing of use space Sheng Xi robots removes, and receives and looks steadily because of its high flexibility and high security
Mesh.
Robot of space rope system replaces tradition machinery arm to carry out space operation using flexible tether.However possessed by tether
Single spring characteristic only provides pulling force and non-pusher, easily cause the collision of both ends spacecraft and the winding of they and tether.
Collision can cause more space debris, aggravate the threat to rail safety, therefore the harm collided is self-evident, but be wound around
Adverse effect be but difficult to imagine.In fact it is used as a kind of noncooperative target, objective body to be pulled is typically unstable.One
Denier tether is in relaxed state as towing when spacecraft, then can be wound with objective body moment, make both ends spacecraft
Between rope length die-off.When tether is tightened again, since there are faster speed of wrap, tether tension can be caused to increase sharply.It is larger
Tension both ends spacecraft is pulled towards each other, the thing followed collision will occur.As it can be seen that for ensure towing task it is smooth into
Row, collision and winding must all avoid.A conclusion can be shown to the analysis for winding mechanism above, either still twined in collision
In, tether tension all plays decisive role.Therefore, it is the key that anticollision is antiwind to the reasonable control of tether tension.
For this, domestic scholars become the antiwind aspect of rail anticollision in towing and propose many new suggesteds, the text delivered
It has offered：《SCIENCE CHINA Technological Sciences》's《Dynamics of tether-tugging
reorbiting with net capture》., research shows that when the initial attitude of both ends spacecraft is consistent, tether tension exists for this
It can tend towards stability during towing, be avoided that the generation of collision.Once their initial attitude has deviation, then tension by it is out of control simultaneously
Cause to collide
Compared to the anticollision strategy of more domestic adjustment initial attitude, foreign scholar exists《Acta Astronautica》On
It delivers《Input shaped large thrust maneuver with a tethered debris object》With
《Tethered towing using open-loop input-shaping and discrete thrust levels》In,
Platform thrust filtering technique is used, tether tension can be made passively to comply with the variation of thrust and make corresponding adjustment.Such as
In tail-off, tension can fall to zero rapidly and avoid collision.In addition, being published in《Transactions on
Robotics and Automation》On《Attitude stabilization of an unknown and
spinning target spacecraft using a visco-elastic tether》Use assembly system for winding matter
The heart rotation mode come make tether under centrifugal force be in tensioning state, to avoid collision.However, these strategies are to tether
Power can only carry out passive adjusting and all rely on external force, and such as platform thrust, this can influence the design for becoming rail track.
【Invention content】
The purpose of the present invention is to provide a kind of antiwind towing orbit changing methods of anticollision using the control of platform spool.
This method does not influence the normal application of platform thrust, is filtered without to thrust progress is additional, can give Track desigh
Very large space is provided.
In order to achieve the above objectives, the present invention is achieved by the following scheme：
A kind of towing using spool control becomes the antiwind collision-proof method of rail, includes the following steps：
1) it establishes and considers that both ends posture and the assembly of tether relaxation become rail kinetic model；
Assembly orbital plane internal dynamics model is established using Lagrangian method：
Wherein, q=[r1,α1,θ1,β,s,θ2]TFor 6DOF generalized coordinates in assembly orbital plane, r1For space platform
Barycenter orbit radius, α1For platform barycenter true anomaly, θ1For platform pitch attitude angle, β is both ends spacecraft centroid line and work as
Ground horizontal line angle (face interior angle), s are both ends spacecraft centroid line, θ2For objective body pitch attitude angle, lrtIt is wound to deduct
Rope length after length, m1For platform mass, m2For target weight, I1For platform pitch rotation inertia, I2Turn for objective body pitching
Dynamic inertia；λ is tether relaxation factor, and relaxation is 1 for 0 tensioning；EA is tether rigidity；Each generalized force Qr1、Qα1、Qθ1、Qβ、Qs、Qθ2
It is defined as follows with tether tension：
Wherein, F is space platform thrust, τcFor platform stance control moment,It is tether point of release in space platform sheet
Vector under system,The vector a little under complex is arrested for tether,To be directed toward the tension arrested a little by point of release
Vector,For from arrest be directed toward the tension of point of release to；φ is the angle of tether and two barycenter lines, after deformation
Rope length l is defined as follows：
Wherein, (xd,yd) it is point of release coordinate, (x under platform body systemp,yp) it is to arrest a little to sit under complex
Mark；
2) the spool Controlling model and winding model of tether are established；
Tether spool Controlling model：
It is as follows that spool kinetic model is established with the moment of momentum theorem：
Wherein, IrFor spool rotary inertia, φrFor spool corner, CdFor spool damped coefficient, r is spool radius, TmFor
Reel motor control moment, lrFor the not deformed rope length of spool release, rdFor tether diameter, wdFor spool width, R1For no tether
When spool radius, LrRope length is discharged for spool maximum；
Tether winds model：
Assume initially that space platform is the rectangle of am × bm, objective body, depending on being integral, is c m for the length of side with the winged pawl of intelligence
Square；Secondly for space platform since the vertex on the downside of tether point of release, in the direction of the clock to each vertex number,
It is followed successively by 0,1,2,3；For objective body since arresting a vertex for upside, vertex number is still carried out in the direction of the clock, according to
Secondary is 0,1,2,3；When both ends spacecraft and tether are wound, spaceborne tether tie point will be moved into corresponding top
On point, tether tie point is point of release or arrests a little；
Define platform winding angle ψ=θ1+ β-φ and objective body winding angle η=θ2- φ, wherein ψ is tether and ontology rolling
The angle of axis negative sense, η are the angle of tether and objective body wobble shaft forward direction；When they meet the following conditions, then it is assumed that winding
Occur：
It is winding coefficient to define tw, and cn is the winding number of turns, ltwpFor platform coiling length, ltwdFor objective body coiling length,
Flag is winding point (vertex) serial number；Wherein cn is expressed as：Cn=[tw/4], [] accords with for rounding operation, and institute's round numbers is not
More than the number in operator；If point of release and the respective initial coordinate arrested a little are respectively (xd0,yd0) and (xp0,yp0)；
For platform：
For objective body：
Therefore total coiling length is ltw=ltwp+ltwd, the practical not deformed rope length for deducting coiling length is lrt=lr-ltw；
3) the spool design of control law of anticollision/winding；
Tension first after estimating system stabilization：
Determine tension restriction range：
Wherein tension upper limit constraint is if it exceeds thrust, then set thrust as the tension upper limit；
Calculate the equivalent spool corner of tension restriction：
Calculate spool corner tracking error：
Wherein tension just carries out tension force using triggering control strategy when only tether tension is in except constraint, when
It, which is within restriction range, then maintains rope length to remain unchanged, and tension is allowed freely to change；
Define spool corner speed sliding-mode surface be：
Wherein k1And k2For normal number,For fast Sliding Mode Track deviation, ωrcFor corner rate virtual controlling
Amount is pushed away by slow sliding formwork Equivalent control law, λ1For anti-saturation module status amount, meet following adaptive constraint：
Wherein a1For normal number undetermined, g1For gain related with spool model, Δ Tm=Tm-sat(Tm) in order to control device it is defeated
Go out the deviation between torque and the limited input torque of realistic model；Motor torque saturation function is defined as：
Enable slow sliding formworkDerivative is zero, obtains virtual controlling amountIt is expected spool angular speed, this
In be set as zero；
Select exponentially approaching ruleAgain to fast sliding formworkDerivation simultaneously enables it be equal to Reaching Law, most
G in enabling anti-saturation module adaptively constrain afterwards1=b1, obtaining motor control moment is：
WhereinSliding-mode surface anti-jitter saturation function sat (s) is defined as：
Wherein Δ1≤10-3, Δ2≤10-4, Δ1And Δ2For positive number；
4) platform stance design of control law；
The principle and design procedure of platform pitch attitude controller are identical as spool torque；It is fast, slow to define platform pitch angle
Circuit sliding-mode surface is as follows：
Wherein k3And k4For positive coefficient undetermined；Ωθ1=θ1d-θ1It is inclined between platform pitch command and practical pitch angle
Difference；For fast loop state deviation；ωθ1cFor platform pitch angle virtual controlling amount, by the equivalent control in slow circuit
System measures out,It is expected pitch rate, it is set as zero here；λ2For pitch angle anti-saturation quantity of state,
Meet adaptive constraint：a2For normal number undetermined, g2For with the relevant gain of pitch channel model；Δτc
=τc-sat(τc) deviation between device output torque and the limited input torque of realistic model in order to control, platform pitch control torque
Saturation function is defined as：
Enable g2Equal to b2, exponentially approaching rule is selected, then obtaining platform pitching sliding formwork control ratio is：
Whereinkθ1And εθ1For any positive number
Compared with prior art, the invention has the advantages that：
The present invention has derived assembly towing kinetic model first.It, can be with table for the model is compared to Mass Model
Levy the attitudes vibration of both ends spacecraft；For the previous model for considering spacecraft attitude, tether can be applied not only to
Tensioning state is readily applicable to tether relaxation cases.Secondly, the coiling length of tether is defined, which can be reflecting
Variation of the tether tension under winding.This only characterizes wrapping phenomena with winding angle than foreign countries and can not indicate changing for tension
Becoming will be closer to practical scene.In addition this definition is more advantageous to the research of winding mechanism, also can be to the antiwind plan of follow-up anticollision
It is proposed slightly provides strong theoretical foundation.Finally, spool control law is devised to adjust tether tension.This specific thrust filters skill
Art more carries out directly and more initiatively tension force, while nor affecting on the application of conventional art.Therefore, the control strategy is undoubtedly
The burden of platform thrust can be mitigated, Track desigh is also made to have the degree of freedom of bigger.
【Description of the drawings】
The towing of Fig. 1 assemblys becomes rail areal model
Fig. 2 spool models
Fig. 3 winds model
Fig. 4 pulls transfer orbital control device signal diagram
【Specific implementation mode】
The present invention is described in further detail below in conjunction with the accompanying drawings：
Referring to Fig. 1-Fig. 3, the present invention becomes the antiwind collision-proof method of rail, including following step using the towing of spool control
Suddenly：
1) it establishes and considers that both ends posture and the assembly of tether relaxation become rail kinetic model；
Assembly orbital plane internal dynamics model is established using Lagrangian method：
Wherein, q=[r1,α1,θ1,β,s,θ2]TFor 6DOF generalized coordinates in assembly orbital plane, r1For space platform
Barycenter orbit radius, α1For platform barycenter true anomaly, θ1For platform pitch attitude angle, β is both ends spacecraft centroid line and work as
Ground horizontal line angle (that is, face interior angle), s are both ends spacecraft centroid line, θ2For objective body pitch attitude angle, lrtIt is twined to deduct
Rope length after length, m1For platform mass, m2For target weight, I1For platform pitch rotation inertia, I2For objective body pitching
Rotary inertia；λ is tether relaxation factor, and relaxation is 1 for 0 tensioning；EA is tether rigidity；Each generalized force Qr1、Qα1、Qθ1、Qβ、Qs、
Qθ2It is defined as follows with tether tension：
Wherein, F is space platform thrust, τcFor platform stance control moment,It is tether point of release in space platform sheet
Vector under system,The vector a little under complex is arrested for tether,To be directed toward the tension arrested a little by point of release
Vector,For from arrest be directed toward the tension of point of release to；φ is the angle of tether and two barycenter lines, after deformation
Rope length l is defined as follows：
Wherein, (xd,yd) it is point of release coordinate, (x under platform body systemp,yp) it is to arrest a little to sit under complex
Mark；
2) the spool Controlling model and winding model of tether are established；
Tether spool Controlling model：
It is as follows that spool kinetic model is established with the moment of momentum theorem：
Wherein, IrFor spool rotary inertia, φrFor spool corner, CdFor spool damped coefficient, r is spool radius, TmFor
Reel motor control moment, lrFor the not deformed rope length of spool release, rdFor tether diameter, wdFor spool width, R1For no tether
When spool radius, LrRope length is discharged for spool maximum；
Tether winds model：
Assume initially that space platform is the rectangle of a × b m, objective body, depending on being integral, is c m for the length of side with the winged pawl of intelligence
Square；Secondly for space platform since the vertex on the downside of tether point of release, in the direction of the clock to each vertex number,
It is followed successively by 0,1,2,3；For objective body since arresting a vertex for upside, vertex number is still carried out in the direction of the clock, according to
Secondary is 0,1,2,3；When both ends spacecraft and tether are wound, spaceborne tether tie point will be moved into corresponding top
On point, tether tie point is point of release or arrests a little；
Define platform winding angle ψ=θ1+ β-φ and objective body winding angle η=θ2- φ, wherein ψ is tether and ontology rolling
The angle of axis negative sense, η are the angle of tether and objective body wobble shaft forward direction；When they meet the following conditions, then it is assumed that winding
Occur：
It is winding coefficient to define tw, and cn is the winding number of turns, ltwpFor platform coiling length, ltwdFor objective body coiling length,
Flag is winding point (vertex) serial number；Wherein cn is expressed as：Cn=[tw/4], [] accords with for rounding operation, and institute's round numbers is not
More than the number in operator；If point of release and the respective initial coordinate arrested a little are respectively (xd0,yd0) and (xp0,yp0)；
For platform：
For objective body：
Therefore total coiling length is ltw=ltwp+ltwd, the practical not deformed rope length for deducting coiling length is lrt=lr-ltw；
3) the spool design of control law of anticollision/winding；
Tension first after estimating system stabilization：
Determine tension restriction range：
Wherein tension upper limit constraint is if it exceeds thrust, then set thrust as the tension upper limit；
Calculate the equivalent spool corner of tension restriction：
Calculate spool corner tracking error：
Wherein tension just carries out tension force using triggering control strategy when only tether tension is in except constraint, when
It, which is within restriction range, then maintains rope length to remain unchanged, and tension is allowed freely to change；
Define spool corner speed sliding-mode surface be：
Wherein k1And k2For normal number,For fast Sliding Mode Track deviation, ωrcFor corner rate virtual controlling
Amount is pushed away by slow sliding formwork Equivalent control law, λ1For anti-saturation module status amount, meet following adaptive constraint：
Wherein a1For normal number undetermined, g1For gain related with spool model, Δ Tm=Tm-sat(Tm) in order to control device it is defeated
Go out the deviation between torque and the limited input torque of realistic model；Motor torque saturation function is defined as：
Enable slow sliding formworkDerivative is zero, obtains virtual controlling amountIt is expected spool angular speed, this
In be set as zero；
Select exponentially approaching ruleAgain to fast sliding formworkDerivation simultaneously enables it be equal to Reaching Law, most
G in enabling anti-saturation module adaptively constrain afterwards1=b1, obtaining motor control moment is：
WhereinSliding-mode surface anti-jitter saturation function sat (s) is defined as：
Wherein Δ1≤10-3, Δ2≤10-4, Δ1And Δ2For positive number；
4) platform stance design of control law；
The principle and design procedure of platform pitch attitude controller are identical as spool torque；It is fast, slow to define platform pitch angle
Circuit sliding-mode surface is as follows：
Wherein k3And k4For positive coefficient undetermined；Ωθ1=θ1d-θ1It is inclined between platform pitch command and practical pitch angle
Difference；For fast loop state deviation；ωθ1cFor platform pitch angle virtual controlling amount, by the equivalent control in slow circuit
System measures out,It is expected pitch rate, it is set as zero here；λ2For pitch angle anti-saturation quantity of state,
Meet adaptive constraint：a2For normal number undetermined, g2For with the relevant gain of pitch channel model；Δτc
=τc-sat(τc) deviation between device output torque and the limited input torque of realistic model in order to control, platform pitch control torque
Saturation function is defined as：
Enable g2Equal to b2, exponentially approaching rule is selected, then obtaining platform pitching sliding formwork control ratio is：
Whereinkθ1And εθ1For any positive number
The above content is merely illustrative of the invention's technical idea, and protection scope of the present invention cannot be limited with this, every to press
According to technological thought proposed by the present invention, any change done on the basis of technical solution each falls within claims of the present invention
Protection domain within.
Claims (1)
1. a kind of towing using spool control becomes the antiwind collision-proof method of rail, which is characterized in that include the following steps：
1) it establishes and considers that both ends posture and the assembly of tether relaxation become rail kinetic model；
Assembly orbital plane internal dynamics model is established using Lagrangian method：
Wherein, q=[r1,α1,θ1,β,s,θ2]TFor 6DOF generalized coordinates in assembly orbital plane, r1For space platform barycenter
Orbit radius, α1For platform barycenter true anomaly, θ1For platform pitch attitude angle, β is both ends spacecraft centroid line and local water
Horizontal line angle, s are both ends spacecraft centroid line, θ2For objective body pitch attitude angle, lrtFor deduct coiling length after rope length,
m1For platform mass, m2For target weight, I1For platform pitch rotation inertia, I2For objective body pitch rotation inertia；λ be
Rope relaxation factor, relaxation are 1 for 0 tensioning；EA is tether rigidity；Each generalized force Qr1、Qα1、Qθ1、Qβ、Qs、Qθ2It is fixed with tether tension
Justice is as follows：
Wherein, F is space platform thrust, τcFor platform stance control moment；φ is the angle of tether and two barycenter lines, with
Rope length l after deformation is defined as follows：
Wherein, (xd,yd) it is point of release coordinate, (x under platform body systemp,yp) it is to arrest a little coordinate under complex；
2) the spool Controlling model and winding model of tether are established；
Tether spool Controlling model：
It is as follows that spool kinetic model is established with the moment of momentum theorem：
Wherein, IrFor spool rotary inertia, φrFor spool corner, CdFor spool damped coefficient, r is spool radius, TmFor spool electricity
Machine control moment, lrFor the not deformed rope length of spool release, rdFor tether diameter, wdFor spool width, R1For no tether when volume
Axis radius, LrRope length is discharged for spool maximum；
Tether winds model：
Assume initially that space platform is the rectangle of am × bm, objective body and the winged pawl of intelligence depending on being integral, be the length of side be c m just
It is rectangular；Secondly for space platform since the vertex on the downside of tether point of release, in the direction of the clock to each vertex number, successively
It is 0,1,2,3；For objective body since arresting a vertex for upside, vertex number is still carried out in the direction of the clock, is followed successively by
0,1,2,3；When both ends spacecraft and tether are wound, spaceborne tether tie point will be moved into corresponding vertex
On, tether tie point is point of release or arrests a little；
Define platform winding angle ψ=θ1+ β-φ and objective body winding angle η=θ2- φ, wherein ψ is that tether and ontology wobble shaft are negative
To angle, η be tether and objective body wobble shaft forward direction angle；When they meet the following conditions, then it is assumed that winding occurs：
It is winding coefficient to define tw, and cn is the winding number of turns, ltwpFor platform coiling length, ltwdFor objective body coiling length, flag
To wind point (vertex) serial number；Wherein cn is expressed as：Cn=[tw/4], [] accords with for rounding operation, and institute's round numbers is no more than
Number in operator；If point of release and the respective initial coordinate arrested a little are respectively (xd0,yd0) and (xp0,yp0)；
For platform：
For objective body：
Therefore total coiling length is ltw=ltwp+ltwd, the practical not deformed rope length for deducting coiling length is lrt=lr-ltw；3) prevent
The spool design of control law of collision/winding；
Tension first after estimating system stabilization：
Determine tension restriction range：
Wherein tension upper limit constraint is if it exceeds thrust, then set thrust as the tension upper limit；
Calculate the equivalent spool corner of tension restriction：
Calculate spool corner tracking error：
Wherein tension just carries out tension force, at it using triggering control strategy when only tether tension is in except constraint
Then rope length is maintained to remain unchanged within restriction range, tension is allowed freely to change；
Define spool corner speed sliding-mode surface be：
Wherein k1And k2For normal number,For fast Sliding Mode Track deviation, ωrcFor corner rate virtual controlling amount by
Slow sliding formwork Equivalent control law pushes away, λ1For anti-saturation module status amount, meet following adaptive constraint：
Wherein a1For normal number undetermined, g1For gain related with spool model, Δ Tm=Tm-sat(Tm) device power output in order to control
Deviation between square and the limited input torque of realistic model；Motor torque saturation function is defined as：
Enable slow sliding formworkDerivative is zero, obtains virtual controlling amount It is expected spool angular speed, it is set as here
Zero；
Select exponentially approaching ruleAgain to fast sliding formworkDerivation simultaneously enables it be equal to Reaching Law, finally enables
G in the adaptive constraint of anti-saturation module1=b1, obtaining motor control moment is：
WhereinSliding-mode surface anti-jitter saturation function sat (s) is defined as：
Wherein Δ1≤10-3, Δ2≤10-4, Δ1And Δ2For positive number；
4) platform stance design of control law；
The principle and design procedure of platform pitch attitude controller are identical as spool torque；Define that platform pitch angle is fast, slow circuit
Sliding-mode surface is as follows：
Wherein k3And k4For positive coefficient undetermined；Ωθ1=θ1d-θ1For the deviation between platform pitch command and practical pitch angle；For fast loop state deviation；ωθ1cFor platform pitch angle virtual controlling amount, by the equivalent control in slow circuit
It measures out, It is expected pitch rate, it is set as zero here；λ2It is full for pitch angle anti-saturation quantity of state
The adaptive constraint of foot：a2For normal number undetermined, g2For with the relevant gain of pitch channel model；Δτc=
τc-sat(τc) deviation between device output torque and the limited input torque of realistic model, platform pitch control torque are full in order to control
It is defined as with function：
Enable g2Equal to b2, exponentially approaching rule is selected, then obtaining platform pitching sliding formwork control ratio is：
Whereinkθ1And εθ1For any positive number
。
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| CN106774360B (en) * | 2016-11-24 | 2019-06-04 | 西北工业大学 | It is a kind of to pull the target satellite attitude stabilization method for becoming in rail and utilizing tether and connecting rod |
| CN107085374B (en) * | 2017-06-09 | 2019-11-29 | 北京航空航天大学 | It is the dragging targeted attitude stable control method that space towboat thrust is adjusted based on rope |
| CN107727297B (en) * | 2017-09-11 | 2020-01-07 | 上海宇航***工程研究所 | Effective tension determination method for despinning of out-of-control satellite based on tether connection |
| CN108303873B (en) * | 2017-12-28 | 2020-02-21 | 浙江工业大学 | Permanent magnet synchronous motor sliding mode controller considering control quantity limitation |
| CN113703468B (en) * | 2021-08-06 | 2023-11-14 | 浙江大学 | Position and posture integrated control executing mechanism of space tethered robot |
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