CN109634317A - A kind of spacecraft capturing system preset time vibration suppression control method - Google Patents
A kind of spacecraft capturing system preset time vibration suppression control method Download PDFInfo
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- CN109634317A CN109634317A CN201910013966.1A CN201910013966A CN109634317A CN 109634317 A CN109634317 A CN 109634317A CN 201910013966 A CN201910013966 A CN 201910013966A CN 109634317 A CN109634317 A CN 109634317A
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
The present invention relates to a kind of spacecraft capturing system preset time vibration suppression control methods, under unknown noncooperative target quality and instant impact, design can realization Active vibration suppression controller within a preset time, realize the quick elimination control to assembly vibration is arrested.The present invention has following two points the utility model has the advantages that in the unknown quality of capture target and unknown state, realizes the Active vibration suppression control of drive lacking vibrational system；It realizes within a preset time, vibrates the control quickly eliminated, therefore in expectation or stability contorting can be carried out to vibrational system in specified time, there is stronger engineering application value according to actual requirement of engineering.
Description
Technical field
The invention belongs to spacecraft robust control technique fields, are related to a kind of spacecraft capturing system preset time vibration suppression
Control method processed.
Background technique
With the continuous development of in-orbit service technology, increasingly focus on the security and reliability of spatial manipulation.But with
The increase of Aerospace Satellite and platform transmitting quantity, depleted due to all kinds of failures and fuel, the number of satellite of failure also exists
It gradually increases, this brings huge challenge to the spatial manipulation of safety and threatens.Therefore, in-orbit to utilize the works such as mechanical arm, flying mesh
Tool, which arrests space inert satellite, becomes a kind of feasible program for coping with this kind of threat, sees document: Wingo D.Orbital
Recovery's Responsive Commercial Space Tug for Life Extension Missions[C]//
Space 2004Conference and Exhibit.2013. and Flores-Abad A, Ma O, Pham K, et al.A
review of space robotics technologies for on-orbit servicing[J].Progress in
Aerospace Sciences,2014,68(8):1-26.。
In the capture process of space, there are unmatched speed (relative velocities) between service star and objective body, can be to clothes
Business star arresting agency brings huge instant impact, and the mechanical mechanism for servicing star is caused to be damaged by judder.In order to
Inhibit the vibration in capture process, it is another one is passively inhibiting to vibrate by designing vibration insulator there are mainly two types of method
Kind is to see document by design controller active suppression vibration:
Zhu B,Zhang Z,Suo M,et al.Sampled-data mixed H∞and passive control
for attitude stabilization and vibration suppression of flexible spacecrafts
with input delay[J].Journal of Vibration and Control,2018:1077546318754681.
Wang Z,Xu M,Jia Y,et al.Vibration suppression-based attitude control
for flexible spacecraft[J].Aerospace Science and Technology,2017,70:487-496.
Aridogan U,Basdogan I.A review of active vibration and noise
suppression of plate-like structures with piezoelectric transducers[J]
.Journal of Intelligent Material Systems and Structures,2015,26(12):1455-
1476.
In general, the vibration of a small range can be eliminated to a certain extent by the passive suppressing method of design isolator,
For large-scale impact vibration, need to design controller to further speed up and inhibit vibration.For space capturing system, effectively
Active inhibition method also seldom occur, this mainly has two aspect reasons: firstly, space capturing system is under-actuated systems, often
The full drive control method of rule is difficult to be directly extended in capturing system；Secondly, extraterrestrial target has Non-synergic, quality is difficult
Quickly and effectively to estimate, be so as to cause the nonlinear terms for arresting vibrational system it is unknown, this give Active vibration suppression control
The design of system brings difficulty, sees document: Dai H, Jing X, Wang Y, et al.Post-capture vibration
suppression of spacecraft via a bio-inspired isolation system[J].Mechanical
Systems and Signal Processing,2018,105:214-240。
Therefore, present invention is generally directed to problem above, propose a kind of Active vibration suppression for drive lacking capturing system
Method, quickly to eliminate in capture process influences due to mismatching the vibration of speed bring.
Summary of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of spacecraft capturing system preset time vibration suppression
Control method processed arrests the drive lacking vibrational system of space non-cooperative target for service star, in unknown noncooperative target quality
Under instant impact, design can realization Active vibration suppression controller within a preset time, realization arrests drive lacking
The quick elimination of system vibration controls.
Technical solution
A kind of spacecraft capturing system preset time vibration suppression control method, it is characterised in that steps are as follows:
Step 1: establish the dynamics model of vibration system formed after arresting:
Wherein: x1,x2,x3,x4It is target, the position and speed for servicing star, M respectively1,M2Respectively target, service star
Quality, Ks,N,θ0For isolator spring constant, the setting angle of the number of isolator and isolator, fc,fdFor the rotation of isolator
Turn coefficient of friction and damped coefficient, L is the side length of isolator, NcFor the joint number of isolator, F, u are instant impact respectively
It is inputted with active control, y is system output, and u is control force；
Step 2:
1, preset time performance design:
Output error is Δ1=y-yrThen preset time performance design are as follows:
- η (t) < Δ1< η (t)
Wherein: η (t) is expected performance boundary function, and t is time, yrIt is desired output instruction；
It is described
Wherein:It is two constants, η0,η∞,T1The respectively initial value of η (t) and final
Value and time constant；
2, state Observer Design:
Wherein: l1,l2,l3,l4The design parameter being positive,For observation state amount；
Step 3, the design of underactuated control device:
First Virtual Controller and adaptive law are as follows:
Wherein: α1,Respectively first Virtual Controller and auto-adaptive parameter, β, z1,ε1Respectively intermediate definition becomes
Amount, k1,κ0,γ1The design parameter being positive respectively；
Second and third Virtual Controller and adaptive law form are as follows:
δi-1=si-1-αi-1,
Wherein: αiFor second and third Virtual Controller, ziFor intermediate defined variable, si-1,δi-1Respectively filter exports
And filtering error, ki,Γi-1,σi-1,ι0It is positive design parameter,For filter auto-adaptive parameter；I=2,3；
The practical control input of system are as follows:
Wherein: s3,z4For filter output and intermediate defined variable, k4,Γ3,σ3,ι0The design parameter being positive.
Beneficial effect
A kind of spacecraft capturing system preset time vibration suppression control method proposed by the present invention, in unknown non-cooperative target
Mark under quality and instant impact, design can realization Active vibration suppression controller within a preset time, realize to arresting
The quick elimination control of assembly vibration.
The present invention have following two points the utility model has the advantages that
1, in the unknown quality of capture target and unknown state, the active vibration suppression of drive lacking vibrational system is realized
System control；
2, it realizes within a preset time, vibrates the control quickly eliminated, therefore can be according to actual requirement of engineering, in the phase
It hopes or stability contorting is carried out to vibrational system in specified time, there is stronger engineering application value.
Detailed description of the invention
Fig. 1-2 is that capture target and service championship set response diagram；
Fig. 1: target location response diagram
Fig. 2: service championship sets response diagram
Fig. 3-4 is capture target and service star speed responsive figure；
Fig. 3: objective body speed responsive figure
Fig. 4: service star speed responsive figure
Fig. 5: service star control input figure
Fig. 6: auto-adaptive parameter response diagram
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
For drive lacking vibrational system is arrested, specific simulation parameter is as follows: target is respectively M with service star quality1=
2kg,M2=200kg.The setting angle of isolator spring constant, the number of isolator and isolator is respectively Ks=1200, N=
2,For.The spin friction coefficient and damped coefficient of isolator are fc=0.2, fd=0.1.The joint number N of isolatorc
=7.Instant impact is F=200N.Performance function η1(t) initial value and end value and time constant be respectively γ=
0.6,η0=1, η∞=0.1, T1=15.
Observer parameter l1=5, l2=13, l3=16, l4=9.
Controller parameter k1=k2=k3=4, k4=1,
Filter parameter Γ1=Γ2=Γ3=1, σ1=σ2=0.02, σ3=0.01, ι0=0.01,
Original state x1=0.3m, x3=1m, x2=0.1m/sec, x4=0.4m/sec.
Control method step:
Step 1: capturing system model of vibration
The present invention is directed to arrest after the dynamics model of vibration system that is formed be；
Wherein: x1,x2,x3,x4It is target, the position and speed for servicing star, M respectively1,M2Respectively target, service star
Quality, Ks,N,θ0For isolator spring constant, the setting angle of the number of isolator and isolator, fc,fdFor the rotation of isolator
Turn coefficient of friction and damped coefficient, L is the side length of isolator, NcFor the joint number of isolator, F, u are instant impact respectively
It is inputted with active control, y is system output, and u is control force.
Step 2:
1, preset time performance design
Definition output error is Δ1=y-yr(wherein yrIt is desired output instruction).Then preset time performance design is
- η (t) < Δ1< η (t) (2)
Wherein: η (t) is expected performance boundary function (t is the time), is obtained by following formula
Wherein: γ ∈ (0,1),It is two constant (η0,η∞,T1The respectively initial value of η (t) and most
Final value and time constant).
2, state Observer Design
In the actual process, the velocity information of objective body and service star ontology is difficult to obtain, it is therefore desirable to which design is based on defeated
State observer out, concrete form are as follows:
Wherein: l1,l2,l3,l4The design parameter being positive,For observation state amount.
Step 3: underactuated control device design
Based on Step 2: preset time performance function and state Observer Design in step 3, using room for manoeuvre controlling party
Method designs following underactuated control device: first Virtual Controller and adaptive law are as follows:
Wherein: α1,Respectively first Virtual Controller and auto-adaptive parameter, β, z1,ε1Respectively intermediate definition becomes
Amount, k1,κ0,γ1The design parameter being positive respectively, second and third Virtual Controller and adaptive law form are as follows:
δi-1=si-1-αi-1,
Wherein: αi(i=2,3) is second and third Virtual Controller, ziFor intermediate defined variable, si-1,δi-1Respectively filter
The output of wave device and filtering error, ki,Γi-1,σi-1,ι0It is positive design parameter,For filter auto-adaptive parameter.System is real
Border control input are as follows:
Wherein: s3,z4For filter output (being released by formula (7)) and intermediate defined variable, k4,Γ3,σ3,ι0It is positive
Design parameter.
Claims (1)
1. a kind of spacecraft capturing system preset time vibration suppression control method, it is characterised in that steps are as follows:
Step 1: establish the dynamics model of vibration system formed after arresting:
Wherein: x1,x2,x3,x4It is target, the position and speed for servicing star, M respectively1,M2Respectively target, the quality of service star,
Ks,N,θ0For isolator spring constant, the setting angle of the number of isolator and isolator, fc,fdFor the spin friction of isolator
Coefficient and damped coefficient, L are the side length of isolator, NcFor the joint number of isolator, F, u are instant impact and active respectively
Control input, y are system output, and u is control force；
Step 2:
1, preset time performance design:
Output error is Δ1=y-yrThen preset time performance design are as follows:
- η (t) < Δ1< η (t)
Wherein: η (t) is expected performance boundary function, and t is time, yrIt is desired output instruction；
It is described
Wherein: γ ∈ (0,1),It is two constants, η0,η∞,T1The respectively initial value of η (t) and end value
And time constant；
2, state Observer Design:
Wherein: l1,l2,l3,l4The design parameter being positive,For observation state amount；
Step 3, the design of underactuated control device:
First Virtual Controller and adaptive law are as follows:
Wherein: α1,Respectively first Virtual Controller and auto-adaptive parameter, β, z1,ε1Respectively intermediate defined variable, k1,
κ0,γ1The design parameter being positive respectively；
Second and third Virtual Controller and adaptive law form are as follows:
δi-1=si-1-αi-1,
Wherein: αiFor second and third Virtual Controller, ziFor intermediate defined variable, si-1,δi-1Respectively filter output and filter
Wave error, ki,Γi-1,σi-1,ι0It is positive design parameter,For filter auto-adaptive parameter；I=2,3；
The practical control input of system are as follows:
Wherein: s3,z4For filter output and intermediate defined variable, k4,Γ3,σ3,ι0The design parameter being positive.
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Citations (6)
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| JP2002325473A (en) * | 2001-04-26 | 2002-11-08 | Yaskawa Electric Corp | Vibration suppressor |
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2019
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Patent Citations (6)
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| JP2002325473A (en) * | 2001-04-26 | 2002-11-08 | Yaskawa Electric Corp | Vibration suppressor |
| CN106502260A (en) * | 2016-12-01 | 2017-03-15 | 西北工业大学 | Robot of space rope system arrests the attitude adapter control method after flexibility target satellite |
| CN107038320A (en) * | 2017-05-22 | 2017-08-11 | 西北工业大学 | Add the method for building up of the rope system capture dynamical model of flexible and fuel slosh |
| CN108372939A (en) * | 2018-02-05 | 2018-08-07 | 西北工业大学深圳研究院 | A kind of noncooperative target arresting agency inhibiting function with impact vibration |
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Non-Patent Citations (3)
| Title |
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| HONGHUA DAI ETAL: "Post-capture vibration suppression of spacecraft via a bio-inspired isolation system", 《MECHANICAL SYSTEMS AND SIGNAL PROCESSING》 * |
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