CN107037811A - Micro nano spacecraft cluster flight control system and method - Google Patents
Micro nano spacecraft cluster flight control system and method Download PDFInfo
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Abstract
The invention discloses a kind of micro nano spacecraft cluster flight control system and method, including the first topological acquisition module, second topological acquisition module, 3rd topological acquisition module and node authentication module, described first topological acquisition module determines measurement and control network communication topology and measurement and control network dynamics according to the communication link information stream between micro nano spacecraft, described second topological acquisition module determines micro nano spacecraft body Kinetics Network topology according to the information flow between micro nano spacecraft oneself state node, described 3rd topological acquisition module merges telemetry communication network topology, micro nano spacecraft body Kinetics Network topology simultaneously determines cluster generalized network topology, the node authentication module identification goes out the simulation state node collection of the cluster generalized network topology.The cluster flight control system can be realized to automatically selecting for observing and controlling interface node and distributing rationally for micro nano spacecraft lifting force device, so as to which the controllability and control performance of cluster flight is effectively ensured.
Description
Technical field
The present invention relates to micro nano spacecraft field, especially with respect to a kind of micro-nano for being capable of in-orbit networking formation cluster flight
Spacecraft.
Background technology
Micro nano spacecraft is simple in construction, it is cheap with launch cost to develop, and can in-orbit networking form cluster and fly, be not
Carry out the important directions of spacecraft development.
Due to micro-nano star miniaturization with modular physical arrangement feature so that its own flight control executive capability by
To severely restricts.The restriction that the limitation of this micro-nano star control ability is flown to cluster is mainly reflected in information constrained and physics about
Two aspects of beam：One is information constrained, because the energy resource supply ability and information data disposal ability of micro-nano star are limited, its micro-nano
The bandwidth of radio communication is restricted with scope between star, it is therefore necessary to it is required that cluster flight telemetry communication network (abbreviation observing and controlling
Network) in communication link scale and observing and controlling interface star (i.e. ground can observing and controlling micro-nano star) quantity it is minimum；Two be physical constraint, by
In the limitation of micro-nano star load-carrying ability, inevitable requirement micro-nano star is with minimum control executing agency (thruster) and sensitive mechanism
(sensor) configuration come meet cluster flight TT＆C requirement.This micro-nano star information physical feature is to cluster flight tracking and command network
The configuration limits of network topological structure and observing and controlling interface, celestial body thruster and sensor, the network flown to micro nano spacecraft cluster
Observing and controlling master-plan brings very big challenge.
Currently for above restraining factors, for the more cluster flight measurement and control network topological structure of micro-nano star number mesh, survey
The selection of interface star is controlled, still lacks characteristic evidences and systematicness, the integrated design technology of versatility, and it is complete freely based on tradition
The celestial body thruster and sensor collocation method of degree control driving, it is also difficult to adapt to the narrow and small institute's band of celestial body load space of micro-nano star
Low load ability, the overall design constraints of high task density come.This causes larger amt scale micro nano spacecraft cluster network
Observing and controlling difficulty is big, track is laid high with operating cost, and the observing and controlling performance of micro nano spacecraft cluster measurement and control network is difficult to ensure that,
What the presence of the two technical barriers was realized and applied as the flight of micro nano spacecraft cluster keeps factor in check.
The content of the invention
The present invention provides a kind of new micro nano spacecraft cluster flight control system and method.
The present invention provides a kind of micro nano spacecraft cluster flight control system, including the first topological acquisition module, second opens up
Acquisition module, the 3rd topological acquisition module and node authentication module are flutterred, the described first topological acquisition module is according to micro nano spacecraft
Between communication link information stream determine measurement and control network communication topology and measurement and control network dynamics, second topology obtains mould
Root tuber determines body Kinetics Network topology, the 3rd topology according to the information flow between micro nano spacecraft oneself state node
Acquisition module merges the telemetry communication network topology, body Kinetics Network according to two dynamic (dynamical) coupled relations and opened up
Flutter and determine cluster generalized network topology, the node authentication module identification goes out the minimum drive of the cluster generalized network topology
Dynamic state node collection, the node that the described simulation state node is concentrated is the state of observing and controlling interface node and thruster configuration
Node.
In-flight, each micro nano spacecraft can also be considered as in measurement and control network micro nano spacecraft this body dynamics to cluster
Node.Communicated between each micro nano spacecraft by communication link.According to measurement and control network topology, it may be determined that go out observing and controlling interface
Node, the observing and controlling interface node is that can be used in receiving network control input signal.
The multigroup thruster of each micro nano spacecraft correspondence.Every group of thruster, which can include radial thrust device, course, to be pushed away
Power device and normal thrust device, after node authentication, such as radial direction redundancy, then every group of radial thrust device can omit.
A kind of micro nano spacecraft cluster flight control method, including following process：
A) measurement and control network communication topology and tracking and command network are built according to the communication link information stream between the micro nano spacecraft
Network dynamics；
B) body Kinetics Network topology is built according to the information flow between the micro nano spacecraft oneself state node；
C) according to measurement and control network dynamics and the dynamic (dynamical) coupled relation of body, merge the measurement and control network communication topology and
Kinetics Network is topological and builds cluster generalized network topology；
D) the simulation state node collection of the cluster generalized network topology is picked out.
How it is by letter that measurement and control network dynamics is used to describe each node (micro nano spacecraft) status information in cluster
Breath topology is interacted and updated.After network topology is determined, that is, network dynamics are determined.This body dynamics is micro nano spacecraft
Kinetic model on orbital mechanics category.
The process a) includes：
A1) build micro nano spacecraft cluster measurement and control network topology, according to can synchronism for measurement and control network topology
Constraints, obtains can ensure that the information topology set of system convergence；
A2) according to maximum matching principle, the information topology of described information topology set is converted into bipartite graph, institute is solved
State the maximum matching of bipartite graph；
A3) in the maximum matching, all communication topologies with perfect matching characteristic or minimum matched node are drawn
Subset；
A4 the minimum communication topology of unidirectional communications link) is selected in all communication topology subsets, is surveyed as described
Control network service topology.
The process b) includes：
B1 the body kinetic model of the micro nano spacecraft) is built；
B2 the sytem matrix of the body kinetic model) is obtained, the matrix is regard as adjacency matrix；
B3 corresponding body Kinetics Network topology) is determined according to the adjacency matrix.
The beneficial effects of the invention are as follows：Realized by measurement and control network communication topology to communication link between micro nano spacecraft
Optimization, can realize the automatic identification of redundancy thruster, and then can realize to observing and controlling interface node by generalized network topology
Automatically select and distributed rationally with micro nano spacecraft lifting force device, make that the control system can effectively ensure that cluster flight can
Control property and control performance.
Brief description of the drawings
Fig. 1 is the structure schematic diagram of the measurement and control network information topology of present embodiment；
Fig. 2 is the structure schematic diagram of the body Kinetics Network topology of present embodiment；
Fig. 3 is the structure schematic diagram of the cluster generalized network topology of present embodiment.
Embodiment
The present invention is described in further detail below by embodiment combination accompanying drawing.
As shown in Figure 1 to Figure 3, a kind of micro nano spacecraft cluster flight control system, it is multiple that it can fly to cluster
Micro nano spacecraft can be communicated between overall control, each micro nano spacecraft, between each micro nano spacecraft oneself state node
There can be coupled relation.Micro nano spacecraft cluster flight control system includes the first topological acquisition module, the second topology and obtained
Module, the 3rd topological acquisition module and node authentication module, the first topological acquisition module is according to the communication between micro nano spacecraft
Link information stream determines measurement and control network communication topologyThe measurement and control network communication topology is one-way communication between micro nano spacecraft
The minimum communication topology of number of links.Second topological acquisition module is according to the information flow between micro nano spacecraft oneself state node
Determine body Kinetics Network topologyThe node of body Kinetics Network topology is each state point kinetically
Amount, side is the information flow between each component.3rd topological acquisition module merges the telemetry communication network topology, this body dynamics
Network topology simultaneously determines cluster generalized network topologyNode authentication module identification goes out cluster generalized network topology
Simulation state node collection, the node that the simulation state node is concentrated is the shape of observing and controlling interface node and thruster configuration
State node.Micro nano spacecraft such as micro-nano star.
As shown in Figure 1 to Figure 3, the construction method of present embodiment micro nano spacecraft cluster flight control system includes：It is first
First, micro nano spacecraft cluster flight measurement and control network dynamics and micro nano spacecraft relative motion Unified Model are described as with model
State is the cluster generalized network dynamics of node；Secondly, controllability, controllability from cluster generalized network with can synchronism go out
Hair, can synchronous domain analysis and maximum matching principle, the communication topology optimization to micro nano spacecraft cluster measurement and control network with reference to network；
Finally, further according to network minimum input principle and duality, the simulation and observer nodes state of cluster generalized network are recognized
Collection, is analyzed by node driving force, determines the observing and controlling interface planetesimal collection of cluster measurement and control network, celestial body thruster and sensor are most
Small configuration, realizes the master-plan and optimization of micro nano spacecraft cluster measurement and control network, enables micro nano spacecraft cluster measurement and control network
Enough ensure the controllability and control performance of cluster flight.
Micro nano spacecraft cluster flight control method comprises the following steps：
(1) topological structure optimization of micro nano spacecraft cluster measurement and control network communication link
In order to build the micro nano spacecraft cluster observing and controlling that total state is controllable and control performance is good with minimum communications cost
Network, from micro nano spacecraft cluster measurement and control network can two aspects of synchronism and controllability controllability, study tracking and command network
The structure optimization of network communication topology.
One be with reference in many autonomous agent congruity theories and complex network Synchronization Theory can synchronization field correlation technique, set up
Micro nano spacecraft cluster measurement and control network topologyCluster flight network control algolithm u can synchronization field with network closed loop systemIt
Between quantitative relationship, obtain micro nano spacecraft cluster measurement and control network can synchronism for measurement and control network information topology constraint bar
Part；And by the restriction relation, with can synchronization fieldArea or borderline properties it is (whether unbounded) be judging quota, with reference to control
Algorithm u design, is determined to ensure the information topology set of micro nano spacecraft cluster measurement and control network good synchronizationShould
Process is to be used to obtain information topology set, and the topology set is calculated according to constraints set in advance, judging quota and control
Method is drawn.
Two be to combine the theoretical maximum matching principle of complex network structures controllability, by information topology setIn letter
Breath topology is converted into the representation of bipartite graph, then using the maximum matching of Hopcroft-Karp Algorithm for Solving bipartite graphs, so that
Obtain the maximum matching of correspondence communication topology；Further there is perfect matching (only unique to mismatch node) characteristic all
Or the minimum communication topology subset for mismatching nodeIn, unidirectional communications link number is minimum between selection micro nano spacecraft
Communication topology, is defined as micro nano spacecraft cluster measurement and control network communication topologyIt is final to determine micro nano spacecraft cluster tracking and command network
The Topology Structure Design scheme of network communication link.
(2) selection of micro nano spacecraft cluster flight observing and controlling interface planetesimal collection and celestial body thruster are configured with sensor
It is determined that micro nano spacecraft cluster measurement and control network communication topologyOn the basis of, by micro nano spacecraft cluster measurement and control network
Two aspects of controllability and observability start with, expressed by the network topology of micro nano spacecraft dynamics of relative motion, will be with
Micro nano spacecraft is node (S in hereinafter referred micro nano spacecraft node, such as Fig. 11、 S2、S3、S4It is shown) micro nano spacecraft collection
It is with micro nano spacecraft node state component (i.e. position r that group's measurement and control network, which increases and expanded,i, speed) it is node (hereinafter referred state
Node) cluster generalized network, then be used uniformly the network controllability controllability method based on minimum input principle, with reference to based on
The control driving node driving force analysis that node center is estimated, solves the observing and controlling interface selection of micro nano spacecraft cluster flight
Problem and micro nano spacecraft thruster minimal configuration problem.
A. the observing and controlling interface selection of micro nano spacecraft cluster flight measurement and control network is configured with micro nano spacecraft lifting force device
As shown in figure 1, obtaining communication topology by the optimization of micro nano spacecraft cluster measurement and control network Communication topologyTogether
When can also obtain micro nano spacecraft cluster measurement and control networkMatching communication link (the communication link a in such as Fig. 1 of maximum matching21)
With matching micro nano spacecraft node (micro nano spacecraft node S in such as Fig. 12), further it can obtain by minimum input principle micro-
Minimum control input effect micro nano spacecraft node (the micro nano spacecraft node S in such as Fig. 1 of nano spacecraft cluster flight control1、
S3、S4), these micro nano spacecrafts can be used as the observing and controlling interface subsets in cluster flight control, i.e. micro-nano in the interface subsets
Spacecraft node can be used for receiving network control input signal u1、u2、u3。
But this only can guarantee that the dynamic (dynamical) controllability of micro nano spacecraft cluster measurement and control network using micro nano spacecraft as node,
And the observing and controlling micro nano spacecraft subset of cluster flight control is only determined.And whole micro nano spacecraft cluster measurement and control network system
Controllability topological structure not only with cluster measurement and control networkIt is relevant, it is also relevant also with the controllability of micro nano spacecraft node.
And in cluster flight control, control configuration direction (the i.e. state component r of thrusteri) and number be finally to be navigated by micro-nano
What the controllability of its device node was determined.Therefore, in order to study the minimal configuration problem of micro nano spacecraft celestial body thruster, by micro-nano
Spacecraft cluster measurement and control network dynamics carries out unified Modeling with micro nano spacecraft dynamics of relative motion, carrys out analytic set swarming row
The controllability of control.
First, according to the orbital mechanics characteristic (Fig. 2 left halfs) of relative motion between micro nano spacecraft, foundation description is derived micro-
The mathematical models (generally nonlinear model) of nano spacecraft relative motion, are expressed as following formula
Wherein, state vector xi=[rx,i ry,i rz,i], wherein(to simplify description, it is reduced to one
State component ri), input ui=[ux,i uy,i uz,i], u herex,i, uy,i, uz,iRespectively micro nano spacecraft three directions are pushed away
Power device control input, yiExported for system.
Assuming that the micro nano spacecraft desired motion determined by micro nano spacecraft cluster flight control instruction is (xd,i,ud,i),
Nonlinear model is linearized near desired motion state, the linear kinetic model of micro nano spacecraft relative motion is obtained
For
Here,
For linear system (2), although Kalman controllability order conditions can interpolate that the controllability of system, but can not
It is determined that minimum control input.Therefore present embodiment is proposed the sytem matrix A in micro nano spacecraft linear kinetic modeliMake
For the adjacency matrix (part in such as Fig. 2) of a network topology, and then with adjacency matrix AiCorresponding network topology
(such as Fig. 2 right halfs) carrys out only table up to micro nano spacecraft node dynamics of relative motion, the network topologyNode to be micro-
The dynamic (dynamical) each state component of nano spacecraft, side is information flow relation between each component.Thus equally can be by complex network
The theoretical maximum matching principle of structural controllability, the controllability to micro nano spacecraft kinetic model is analyzed, and removes redundancy
Thruster configuration (such as Fig. 2 right halfs) is controlled, the minimum state node of micro nano spacecraft node control thruster configuration is picked out
Collection, finally obtains the Operational node for the minimum input that the control of micro nano spacecraft cluster generalized network is performed, obtains thruster configuration
Number and direction.
On the basis of the above, by studying micro nano spacecraft cluster measurement and control networkMicro-nano star internodal communication link information
Stream and micro-nano star nodes dynamics network topologyThe signal relation and physical quantity of information flow, micro-nano is navigated between state node
Its device cluster measurement and control network communication topologyWith micro-nano star nodes dynamics network topologyMerge, obtain cluster wide
Adopted network topology(such as Fig. 3 left halfs).Thus by the dynamics and micro-nano star of micro nano spacecraft cluster measurement and control network
The unified dynamics (such as Fig. 3 right halfs) for cluster generalized network of dynamics.Further made with cluster generalized network dynamics
The network model flown for micro nano spacecraft cluster, with cluster generalized networkControllability be point of penetration, based on complexity
The maximum matching principle of network, analyzes micro nano spacecraft cluster measurement and control networkControllability and micro-nano star meshed networkEnergy
Relation between relation, and micro-nano star driving node and state component driving node between control property.Ensureing generalized networkOn the basis of controllability, the match information logical circulation road (side) of cluster generalized network maximum matching, and non-matched state are determined
Node (i.e. the driving node of cluster generalized network) feasible set.Respectively may be used again by the centrality Quantified analysis of driving node
The driving force of driving node is controlled in row set, the most strong set of selection driving force is defined as simulation state node
Collection.Node in the simulation state node set be observing and controlling interface node in micro nano spacecraft cluster measurement and control network and
The state node of celestial body thruster configuration.
Above content is to combine specific embodiment further description made for the present invention, it is impossible to assert this hair
Bright specific implementation is confined to these explanations.For general technical staff of the technical field of the invention, do not taking off
On the premise of from present inventive concept, some simple deduction or replace can also be made.
Claims (5)
1. a kind of micro nano spacecraft cluster flight control system, it is characterised in that including the first topological acquisition module, the second topology
Acquisition module, the 3rd topological acquisition module and node authentication module, the described first topological acquisition module according to micro nano spacecraft it
Between communication link information stream determine measurement and control network communication topology and measurement and control network dynamics, the described second topological acquisition module
Body Kinetics Network topology is determined according to the information flow between micro nano spacecraft oneself state node, the 3rd topology is obtained
Modulus root tuber is moved according to two dynamic (dynamical) coupled relations, the merging telemetry communication network topological sum micro nano spacecraft body
Mechanics network topology simultaneously determines cluster generalized network topology, and the node authentication module identification goes out the cluster generalized network and opened up
The simulation state node collection flutterred, the node that the described simulation state node is concentrated is observing and controlling interface node and thruster
The state node of configuration.
2. micro nano spacecraft cluster flight control system as claimed in claim 1, it is characterised in that each micro-nano space flight
The multigroup thruster of device correspondence.
3. a kind of micro nano spacecraft cluster flight control method, it is characterised in that including following process：
A) measurement and control network communication topology is built according to the communication link information stream between the micro nano spacecraft and measurement and control network is dynamic
Mechanics；
B) according to the information flow construction force network topology between the micro nano spacecraft oneself state node；
C) according to measurement and control network dynamics and the dynamic (dynamical) coupled relation of body, the measurement and control network communication topology and power are merged
Learn network topology and build cluster generalized network topology；
D) the simulation state node collection of the cluster generalized network topology is picked out.
4. micro nano spacecraft cluster flight control method as claimed in claim 3, it is characterised in that the process a) includes：
A1) build micro nano spacecraft cluster measurement and control network topology, according to can synchronism for measurement and control network topology constraint
Condition, obtains can ensure that the information topology set of system convergence；
A2) according to maximum matching principle, the information topology of described information topology set is converted into bipartite graph, described two are solved
The maximum matching of component；
A3) in the maximum matching, all communication topology subsets with perfect matching characteristic or minimum matched node are drawn；
A4 the minimum communication topology of unidirectional communications link) is selected in all communication topology subsets, the tracking and command network is used as
Network communication topology.
5. the micro nano spacecraft cluster flight control method as described in claim 3 or 4, it is characterised in that the process b) bags
Include：
B1 the body kinetic model of the micro nano spacecraft) is built；
B2 the sytem matrix of the body kinetic model) is obtained, the matrix is regard as adjacency matrix；
B3 corresponding body Kinetics Network topology) is determined according to the adjacency matrix.
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| CN112380353A (en) * | 2020-11-13 | 2021-02-19 | 哈尔滨工业大学 | Knowledge engineering-based spacecraft overall design method, platform and storage medium |
| CN112380353B (en) * | 2020-11-13 | 2021-06-08 | 哈尔滨工业大学 | Knowledge engineering-based spacecraft overall design method, system and storage medium |
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