CN111752154A - Switching control method for spacecraft motion connection pipe - Google Patents

Switching control method for spacecraft motion connection pipe Download PDF

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CN111752154A
CN111752154A CN202010632621.7A CN202010632621A CN111752154A CN 111752154 A CN111752154 A CN 111752154A CN 202010632621 A CN202010632621 A CN 202010632621A CN 111752154 A CN111752154 A CN 111752154A
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spacecraft
controller
motion model
linear motion
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CN111752154B (en
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郝晓龙
陈力
左增宏
王海红
刘念
翟华
龚立纲
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63921 Troops of PLA
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    • 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
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Abstract

Embodiments of the present disclosure provide a handover control method, apparatus, and computer-readable storage medium for spacecraft motion takeover. The method comprises obtaining a first linear motion model of the failed spacecraft; generating a first controller according to the first linear motion model; controlling the service spacecraft and the failure spacecraft to be butted through the first controller to form a combined spacecraft; acquiring a second linear motion model of the combined spacecraft; generating a second controller according to the second linear motion model; switching a first controller controlling the combined spacecraft to a second controller. In this way, the adverse effect of switching control can be reduced, and the stability of the spacecraft motion taking-over process is improved.

Description

Switching control method for spacecraft motion connection pipe
Technical Field
Embodiments of the present disclosure relate generally to the field of aerospace technology, and more particularly, to a handover control method, apparatus, and computer-readable storage medium for spacecraft motion takeover.
Background
After the fuel is exhausted, the on-orbit spacecraft can become a failed spacecraft and can not continuously execute the predetermined task. Because the manufacturing cost of the spacecraft is high, huge economic loss can be caused if the spacecraft is directly abandoned. Through the butt joint of the service spacecraft and the failure spacecraft, the failure spacecraft can continuously execute the predetermined task, and the cost is saved.
Because physical parameters such as the mass, the mass center, the rotational inertia and the like of the spacecraft system before and after docking can be greatly changed, the stability of the spacecraft system in the docking process is difficult to ensure by the traditional single control design, and even if the stability can be ensured, the control performance is often reduced, so that the stability is high.
Disclosure of Invention
The present disclosure is directed to solving at least one of the technical problems of the related art or related art.
To this end, in a first aspect of the present disclosure, a switching control method for a spacecraft motion take-over is provided. The method comprises the following steps:
acquiring a first linear motion model of the failed spacecraft; generating a first controller according to the first linear motion model;
controlling the service spacecraft and the failure spacecraft to be butted through the first controller to form a combined spacecraft;
acquiring a second linear motion model of the combined spacecraft; generating a second controller according to the second linear motion model;
switching a first controller controlling the combined spacecraft to a second controller.
Further, the acquiring the first linear motion model of the failed spacecraft comprises:
acquiring a first attitude motion model of the failed spacecraft;
linearizing the first pose motion model to generate the first linear motion model.
Further, the generating a first controller according to the first linear motion model comprises:
the control torque u is obtained by the following formula:
u＝-K1x；
wherein, K1A matrix selected by the first linear motion model;
x is the deviation of the attitude and angular velocity of the service spacecraft from a balance point;
and generating the first controller according to the control torque.
Further, the acquiring the second linear motion model of the combined spacecraft comprises:
acquiring a second attitude motion model of the combined spacecraft;
linearizing the second pose motion model, generating the second linear motion model.
Further, generating a second controller according to the second linear motion model comprises:
the control torque u is obtained by the following formula:
u＝-K2x；
wherein, K2A matrix selected by the second linear motion model;
and generating the second controller according to the control torque.
Further, the switching the first controller controlling the spacecraft into the second controller includes:
if it is guaranteed that N is present0Is not less than 0 and taua> 0, such that
Figure BDA0002565815130000021
Switching the first controller that will control the combined spacecraft to a second controller;
wherein N isσ(T, T) is the number of handovers over the time interval [ T, T ];
Nσthe value of (T, T) is 0 or 1;
τaaverage residence time.
Further, the switching the first controller controlling the spacecraft into the second controller further comprises:
generating an auxiliary controller;
and superposing the auxiliary controller and the second controller during switching to control the combined spacecraft.
Further, the generation assistance controller includes:
taking x as an input of a first neural network model;
if the output u of the first neural network modelaConverging, then x and u are addedaAs an input to a second neural network model;
if the output of the second neural network model
Figure BDA0002565815130000031
Converge according to said
Figure BDA0002565815130000032
Generating the secondary controller.
In a second aspect of the disclosure, an apparatus is presented, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the above-described methods according to the present disclosure.
In a third aspect of the disclosure, a computer-readable storage medium is provided, on which a computer program is stored, which program, when being executed by a processor, realizes the above-mentioned method as according to the disclosure.
According to the switching control method for the spacecraft motion takeover, aiming at the spacecraft with power failure, the service spacecraft is butted with the failed spacecraft, the motion takeover and the service life of the failed spacecraft are prolonged, the violent change of the state of a spacecraft assembly caused by switching control is reduced, and the stability of the switching control process is ensured.
It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
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The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:
FIG. 1 is a flow diagram of one embodiment of a switching control method for spacecraft motion takeover in accordance with the present application;
FIG. 2 is a flow diagram of a reinforcement learning algorithm according to an embodiment of the present application;
FIG. 3 is a diagram of a reinforcement learning neural network architecture according to an embodiment of the present application;
FIG. 4 is a block diagram of handover control according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a computer system used for implementing the terminal device or the server according to the embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Fig. 1 is a flowchart illustrating a switching control for a spacecraft motion takeover according to an embodiment of the present application. As can be seen from fig. 1, the switching control method for spacecraft motion takeover of the present embodiment includes the following steps:
s110, acquiring a first linear motion model of the failed spacecraft; generating a first controller according to the first linear motion model.
Before docking, linearizing the attitude motion model of the service spacecraft near the state of the failure spacecraft to obtain the first linear motion model. Namely, acquiring a first attitude motion model of the failed spacecraft; linearizing the first pose motion model to generate the first linear motion model.
Optionally, the first posture motion model is:
Figure BDA0002565815130000051
wherein q (quaternion) represents an attitude angle describing a rotational relationship of the serving spacecraft body coordinate system with respect to the failed spacecraft orbit coordinate system
Figure BDA0002565815130000052
qvA vector portion of q;
the angular velocity omega is used for describing the rotation angular velocity of the service spacecraft body coordinate system relative to the inertial coordinate system;
ωr＝[ωrx,ωry,ωrz]Tthe rotation angular speed of the serving spacecraft body coordinate system relative to the orbit coordinate system of the failed spacecraft;
ωrx,ωry,ωrzare respectively omegarThree components under the serving spacecraft body coordinate system and satisfy
Figure BDA0002565815130000053
ω*＝[0,-ω0,0]T；
ω*The rotation angular velocity of the orbit coordinate system of the failed spacecraft relative to the inertial coordinate system;
ω0is omega*The size of (d);
Figure BDA0002565815130000054
is a transformation matrix from a failed spacecraft orbit coordinate system to the serving spacecraft body coordinate system;
M1＝diag{M1x,M1y,M1z-is the moment of inertia of the service spacecraft;
Figure BDA0002565815130000055
the gravity gradient moment suffered by the service spacecraft;
and u is the control torque.
Alternatively, let ω0For said failed spacecraft orbit angular velocity, in q*＝[0,0,0,1]TAnd ω*＝[0,-ω0,0]TLinearizing the first pose motion model for a balance point, generating the first linear motion model.
Optionally, the first posture motion model is linearized by the following formula, generating the first linear motion model:
Figure BDA0002565815130000061
wherein x is the deviation of the attitude and angular velocity of the service spacecraft from a balance point, and [ Δ q ═ qT,ΔωT]T，Δq＝q-q*，
Figure BDA0002565815130000062
A1And B1Is a corresponding system matrix;
optionally, the A is1And B1Expression scoreRespectively, the following steps:
Figure BDA0002565815130000063
Figure BDA0002565815130000064
preferably, the first linear motion model is a controlled object, and the controller (first controller) is designed to make the attitude and the angular velocity of the service spacecraft tend to the corresponding state value of the failed spacecraft. That is, the attitude and the angular velocity of the serving spacecraft are both made to approach the corresponding state values of the failed spacecraft by controlling the moment.
Optionally, a control torque u is obtained by the following formula, and the first controller is generated according to the control torque:
u＝-K1x；
wherein, K1A matrix selected by the first linear motion model;
optionally, the matrix K1The acquisition is performed by the following equation:
P1(A1+B1K1)+(A1+B1K1)TP1＝-Q1；
P1and Q1Determining a matrix for the selected positive definite matrix;
K1is the solution of the above equation;
and x is the deviation of the attitude and angular velocity of the service spacecraft from a balance point.
And S120, controlling the service spacecraft and the failure spacecraft to be in butt joint through the first controller to form the combined spacecraft.
And controlling the service spacecraft and the failure spacecraft to be butted by the first controller (control moment) to form the combined spacecraft.
Namely, the attitude and the angular velocity of the service spacecraft are both made to tend to the state values corresponding to the failed spacecraft through the first controller, and then the service spacecraft is butted with the failed spacecraft to form the combined spacecraft.
S130, acquiring a second linear motion model of the combined spacecraft; and generating a second controller according to the second linear motion model.
And linearizing the attitude motion model of the combined spacecraft (docking assembly) near the state of the failed spacecraft to obtain the second linear motion model. Namely, a second attitude motion model of the combined spacecraft is obtained, and the second attitude motion model is linearized to generate the second linear motion model.
The body coordinate system of the assembly after docking and the body coordinate system of the service spacecraft before docking are in a translation relation, so that the attitude motion of the assembly can be described by using the attitude angle and the attitude angular velocity of the service spacecraft. That is, the rotational relationship of the body coordinate system of the docking assembly with respect to the orbit coordinate system of the failed spacecraft can be described by q in step S110; ω describes the angular velocity of rotation of the serving spacecraft body coordinate system relative to the inertial coordinate system.
Optionally, the second gesture motion model is:
Figure BDA0002565815130000081
wherein,
Figure BDA0002565815130000082
qva vector portion of q;
ωr＝[ωrx,ωry,ωrz]Tthe rotating angular speed of the combined spacecraft body coordinate system relative to the invalid spacecraft orbit coordinate system is obtained;
ωrx,ωry,ωrzare respectively omegarThree components under the serving spacecraft body coordinate system and satisfy
Figure BDA0002565815130000083
ω*＝[0,-ω0,0]T；
ω*The rotation angular velocity of the orbit coordinate system of the failed spacecraft relative to the inertial coordinate system;
ω0is omega*The size of (d);
Figure BDA0002565815130000084
is a transformation matrix from a failed spacecraft orbit coordinate system to the combined spacecraft body coordinate system;
M2＝diag{M2x,M2y,M2zthe moment of inertia of the combined spacecraft is multiplied by the equation;
Figure BDA0002565815130000085
is the gravity gradient moment to which the combined spacecraft is subjected;
and u is the control torque.
Optionally, with q*＝[0,0,0,1]TAnd ω*＝[0,-ω0,0]TAnd a balance point, which linearizes the second posture motion model and generates a second linear motion model.
Optionally, the second gesture motion model is linearized by the following formula, generating the second linear motion model:
Figure BDA0002565815130000091
wherein x is the deviation of the combined spacecraft attitude and angular velocity from the balance point, and [ Δ q ═ qT,ΔωT]T，Δq＝q-q*，
Figure BDA0002565815130000092
Is a reaction with q*A corresponding attitude matrix;
A2and B2Is a corresponding system matrix;
optionally, the A is2And B2The expressions are respectively:
Figure BDA0002565815130000093
Figure BDA0002565815130000094
preferably, the controller (second controller) is designed such that the attitude and the angular velocity of the combined spacecraft are both biased toward the state values corresponding to the failed spacecraft, with the second linear motion model as the controlled object.
Optionally, a control torque u is obtained through the following formula, and the second controller is generated according to the control torque:
u＝-K2x；
wherein, K2A matrix selected by the second linear motion model;
optionally, the matrix K2The acquisition is performed by the following equation:
P2(A2+B2K2)+(A2+B2K2)TP2＝-Q2
P2and Q2Determining a matrix for the selected positive definite matrix;
K2is a solution of the above equation.
And S140, switching the first controller for controlling the combined spacecraft into a second controller.
If it is guaranteed that N is present0Is not less than 0 and taua> 0, such that
Figure BDA0002565815130000101
The first controller that will control the combo spacecraft is switched to the second controller. That is, when the above inequality is established (the constraint condition is satisfied), the first controller that controls the combo spacecraft is switched to the second controller using the average residence time theory.
Wherein N isσ(T, T) is the number of handovers over the time interval [ T, T ];
Nσthe value of (T, T) is 0 or 1, 0 represents no switching, and 1 represents switching;
τaan average residence time;
alternatively, τaSatisfies the following conditions:
Figure BDA0002565815130000102
optionally, in order to reduce the violent change of the spacecraft state caused by controller switching, the auxiliary controller is designed by using a reinforcement learning method and is used for being superposed with the second controller during switching to control the combined system (combined spacecraft).
Preferably, as shown in fig. 2, the reinforcement learning algorithm of the auxiliary spacecraft is:
selecting a performance weight matrix RrAnd a discount factor μ ∈ (0, 1);
two three-layer neural networks consisting of an input layer, a hidden layer and an output layer are designed. Namely, the executive network and the evaluation network. And determining the node numbers of the input layer, the hidden layer and the output layer. As shown in FIG. 3, the number of nodes of the input layer, the hidden layer and the output layer of the execution network is N respectivelyai、NahAnd Nao(ii) a Evaluating N respective numbers of nodes of input layer, hidden layer and output layer of networkai+Nao、NchAnd 1, initializing the connection weight value of each node into random numbers uniformly distributed between 0 and 1;
and performing calculation through the evaluation network. Calculating the estimated value of the cost function by using the initialized network weight in the step
Figure BDA0002565815130000111
Judging whether the estimated value is converged, if not, updating the evaluation network weight, and continuously calculating the estimated value of the cost function; if the convergence occurs, outputting the estimated value and the evaluation network weight value to the execution network;
performing computations through the execution network. Calculating the output of the execution network by using the initialized network weight in the step, judging whether the output value is converged, if not, updating the weight of the execution network, and continuously calculating the output value of the execution network; and if the output value is converged, outputting the output value of the execution network as the control force of the auxiliary controller.
In particular, the amount of the solvent to be used,
the state of reinforcement learning is the state x of the second linear motion model, and the controlled variable is the auxiliary controlled variable uaSetting the performance function as:
Figure BDA0002565815130000112
wherein R isrIs a performance weight matrix;
introducing a discount factor mu epsilon (0,1), wherein the cost function of reinforcement learning is as follows:
Figure BDA0002565815130000113
alternatively, two three-layer neural networks composed of an input layer, a hidden layer, and an output layer are designed as an execution network (first neural network) and an evaluation network (second neural network), respectively.
Wherein the input of the execution network is x, and the output is uaThe number of nodes of the input layer, the hidden layer and the output layer is N respectivelyai、NahAnd Nao；
The inputs to the evaluation network are x and uaThe output is the cost function estimated value
Figure BDA0002565815130000114
The number of nodes of the input layer, the hidden layer and the output layer is N respectivelyai+Nao、NchAnd 1.
Optionally, the execution network comprises:
Figure BDA0002565815130000121
wherein,
Figure BDA0002565815130000122
and
Figure BDA0002565815130000123
respectively inputting and outputting the jth hidden layer node of the execution network at the current moment;
z (-) is a neural network activation function;
uak(t) is the output of the kth output node at the current moment;
Figure BDA0002565815130000124
the connection weight from the ith input layer node to the jth hidden layer node at the current moment is obtained;
Figure BDA0002565815130000125
and the connection weight from the jth hidden layer node to the kth output layer node at the current moment.
Optionally, the evaluation network comprises:
Figure BDA0002565815130000126
wherein,
Figure BDA0002565815130000127
and
Figure BDA0002565815130000128
respectively inputting and outputting the jth hidden layer node of the evaluation network at the current moment;
z (-) is a neural network activation function;
Figure BDA0002565815130000129
evaluating the output of the network for the current moment, namely evaluating the cost function estimation value;
Figure BDA00025658151300001210
is the ith of the current timeThe connection weight from each input layer node to the jth hidden layer node;
Figure BDA00025658151300001211
and the connection weight from the jth hidden layer node to the output layer node at the current moment.
Optionally, the weight update rule of the execution network and the evaluation network is as follows:
Figure BDA0002565815130000131
Figure BDA0002565815130000132
Figure BDA0002565815130000133
Figure BDA0002565815130000134
Figure BDA0002565815130000135
Figure BDA0002565815130000136
Figure BDA0002565815130000137
Figure BDA0002565815130000138
where ρ isa> 0 and rhocThe weight updating rate is more than 0;
Figure BDA0002565815130000139
for the ith input layer section at the next momentA connection weight of a point to a jth hidden node;
Figure BDA00025658151300001310
the connection weight from the jth hidden layer node to the kth output layer node at the next moment;
Figure BDA00025658151300001311
the connection weight from the ith input layer node to the jth hidden layer node at the next moment is obtained;
Figure BDA00025658151300001312
the connection weight from the jth hidden layer node to the output layer node at the next moment;
Figure BDA00025658151300001313
and
Figure BDA00025658151300001314
is the weight change amount;
Figure BDA00025658151300001315
training an error for the execution network;
Figure BDA00025658151300001316
for the output of the execution network at the last moment,
Figure BDA00025658151300001317
is 0.
Optionally, a threshold is chosen
Figure BDA00025658151300001318
cIf the weight update convergence judgment rule of the execution network and the evaluation network is:
executing a network:
Figure BDA00025658151300001319
and
Figure BDA00025658151300001320
satisfies the following conditions:
Figure BDA00025658151300001321
and (3) evaluating the network: output of the current time
Figure BDA0002565815130000141
Output from the previous time
Figure BDA0002565815130000142
Satisfies the following conditions:
Figure BDA0002565815130000143
optionally, according to the output u of the execution networkak(t)，k＝1,2,...,NaoThe auxiliary control quantity u is calculated by the following formulaa. I.e. to generate the auxiliary controller.
Figure BDA0002565815130000144
Optionally, the superimposing with the second controller at the time of the handover includes:
the control moment acting on the combined spacecraft is obtained by the following formula
Figure BDA0002565815130000145
Figure BDA0002565815130000146
According to the switching control method for the spacecraft motion takeover, the switching controllers (the first controller and the second controller) are designed by using the switching system theory, the conservatism of control design is reduced by switching of the controllers, and the stability of the switching process is ensured by combining the average residence time theory in the switching system. Meanwhile, the auxiliary controller is designed by a reinforcement learning method, so that the adverse effect of switching control is reduced, and the stability of the spacecraft in the motion takeover process is improved.
Specifically, as shown in fig. 4, before docking, the serving spacecraft moves near the failed spacecraft, and under the action of the first controller, the attitude and the angular velocity of the serving spacecraft converge to the state values corresponding to the failed spacecraft. Under the constraint of average residence time switching, the service spacecraft and the failure spacecraft are butted to form a butt joint assembly (combined spacecraft) and switched from the first controller to the second controller, and when the controllers are switched, the auxiliary controllers are designed by a reinforcement learning method, so that the stability of the switching process is ensured, the adverse effect of switching control is reduced, and the stability of the spacecraft motion takeover process is improved.
An embodiment of the present application further provides an apparatus, including:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a method of handoff control for spacecraft motion takeover as described above.
In addition, the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the above-mentioned switching control method for spacecraft motion takeover.
FIG. 5 shows a schematic block diagram of an electronic device 500 that may be used to implement embodiments of the present disclosure. As shown, device 500 includes a Central Processing Unit (CPU)501 that may perform various appropriate actions and processes in accordance with computer program instructions stored in a Read Only Memory (ROM)502 or loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the device 500 can also be stored. The CPU 501, ROM502, and RAM503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
A number of components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processing unit 501 performs the various methods and processes described above. For example, in some embodiments, the methods may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM502 and/or the communication unit 509. When the computer program is loaded into RAM503 and executed by CPU 501, one or more steps of the method described above may be performed. Alternatively, in other embodiments, CPU 501 may be configured to perform the method by any other suitable means (e.g., by way of firmware).
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a load programmable logic device (CPLD), and the like.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims, and the scope of the invention is not limited thereto, as modifications and substitutions may be readily made by those skilled in the art without departing from the spirit and scope of the invention as disclosed herein.

Claims (10)

1. A switching control method for spacecraft motion takeover is characterized by comprising the following steps:
acquiring a first linear motion model of the failed spacecraft; generating a first controller according to the first linear motion model;
controlling the service spacecraft and the failure spacecraft to be butted through the first controller to form a combined spacecraft;
acquiring a second linear motion model of the combined spacecraft; generating a second controller according to the second linear motion model;
switching a first controller controlling the combined spacecraft to a second controller.
2. The method of claim 1, wherein the obtaining a first linear motion model of the failed spacecraft comprises:
acquiring a first attitude motion model of the failed spacecraft;
linearizing the first pose motion model to generate the first linear motion model.
3. The method of claim 2, wherein generating a first controller from the first linear motion model comprises:
the control torque u is obtained by the following formula:
u＝-K1x；
wherein, K1A matrix selected by the first linear motion model;
x is the deviation of the attitude and angular velocity of the service spacecraft from a balance point;
and generating the first controller according to the control torque.
4. The method of claim 3, wherein said obtaining a second linear motion model of the combined spacecraft comprises:
acquiring a second attitude motion model of the combined spacecraft;
linearizing the second pose motion model, generating the second linear motion model.
5. The method of claim 4, wherein generating a second controller from the second linear motion model comprises:
the control torque u is obtained by the following formula:
u＝-K2x；
wherein, K2A matrix selected by the second linear motion model;
and generating the second controller according to the control torque.
6. The method of claim 5, wherein switching a first controller controlling the combined spacecraft to a second controller comprises:
if it is guaranteed that N is present0Is not less than 0 and taua> 0, such that
Figure FDA0002565815120000021
Switching the first controller that will control the combined spacecraft to a second controller;
wherein N isσ(T, T) is the number of handovers over the time interval [ T, T ];
Nσthe value of (T, T) is 0 or 1;
τaaverage residence time.
7. The method of claim 6, wherein switching the first controller controlling the combined spacecraft to the second controller further comprises:
generating an auxiliary controller;
and superposing the auxiliary controller and the second controller during switching to control the combined spacecraft.
8. The method of claim 7, wherein the generating an auxiliary controller comprises:
taking x as an input of a first neural network model;
if the output u of the first neural network modelaConverging, then x and u are addedaAs an input to a second neural network model;
if the output of the second neural network model
Figure FDA0002565815120000022
Converge according to said
Figure FDA0002565815120000023
Generating the secondary controller.
9. An apparatus, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the generation method of any one of claims 1-8.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1 to 8.
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