The content of this article is reprinted from the WeChat public account: China Space Science and Technology, source: China Space Science and Technology (Chinese and English) 2024 Issue 4, the copyright belongs to the original author and the published media, and the content published is for exchange reference only, and does not represent the position of this journal.
Citation Format:
Meng Zhongjie,Lu Junjie. Fuzzy adaptive enhanced coupling control of under-driven spacecraft[J].China Space Science and Technology(Chinese and English),2024,44(4):11-19.)
MENG Z J,LU J J.Fuzzy gain-adapting coupling attitude control for under-actuated spacecraft[J]. Chinese Space Science and Technology,2024,44(4):11-19(in Chinese).
First, the article guide
1. Research background
In recent years, with the continuous development of space technology, the demand for space missions such as constellation configuration deployment, satellite offensive and defensive confrontation, and space tethered towing has been increasing, and the orbital rapid maneuverability of spacecraft has attracted extensive attention at home and abroad. The high-thrust solid propulsion technology is very suitable for improving the speed of orbital maneuvering due to its advantage of providing a large speed increment in a short time. However, due to unavoidable factors such as thrust vector error and thruster installation error, the spacecraft will be subject to strong attitude interference caused by eccentric moment under solid thrust, which will have a more serious impact on tiny spacecraft, and even lead to the attitude flip of the spacecraft, which will directly cause mission failure. How to solve the problem of strong attitude interference is the key to realize the task of fast orbital maneuvering.
Among the existing attitude control technologies, the control performance of traditional control technologies such as flywheel and control moment gyroscope is limited, and it is difficult to offset the strong interference torque under solid thrust eccentricity. Liang et al. used spin stability control technology to solve the attitude disturbance problem of spacecraft, but the nutation characteristics generated by spin could not be applied to fast maneuvering tasks. Kabganian et al. analyzed the effectiveness of this method in counteracting strong attitude interference and realizing the attitude control in the spacecraft plane. On this basis, Wang et al. realized thrust vector control by installing a universal joint at the nozzle, which solved the problem of strong attitude interference during orbital maneuvering. However, because the longitudinal axis of the thruster is often parallel to the main axis of the spacecraft, the thrust vector control technology often cannot directly provide the control torque of the roll channel, and has typical underdrive control characteristics. In summary, the study of the under-drive attitude control problem of spacecraft under thrust vector control technology can effectively realize the attitude and strong interference suppression under strong thrust orbit change.
At present, there are many domestic and foreign studies on spacecraft under-propulsion control. Guo et al. proposed an attitude retention control method based on offset rollingpitch axis coupling, which reduces the influence of weak coupling of underdrive shafts near the equilibrium point. Yao et al. studied the attitude stabilization problem of the under-driven spacecraft under two control moments, and designed a fixed-time integral sliding mode controller. Nadafi et al. studied the problem of three-axis attitude control of under-driven spacecraft under large-angle maneuvering, and designed a robust controller under the condition of considering uncertainty and actuator saturation. Kumar et al. designed an underdrive attitude control method under microthruster to verify the effectiveness of triaxial stability using thrust vector control technology only. In summary, considering that the spacecraft is subject to serious attitude intensity interference under fixed thrust and orbit change, and the coupling relationship between the roll channel and the rest of the channels under the thrust vector control method is weak, which makes the underdrive control in the process of rapid maneuvering very difficult. The use of intelligent control algorithms has become the top priority to solve this problem.
In terms of the intelligent control algorithm of the under-driven system, Zhai et al. reconstruct the dynamics of the under-driven system into a non-trigonometric paradigm, and use the boundedness of the fuzzy basis function to complete the inversion design, and propose an adaptive fuzzy control method for the uncertain under-driven system. Lai et al. proposed a continuous state feedback underdrive control method based on intelligent optimization, and the intelligent optimization algorithm was used to optimize the design parameters of the controller. Considering the unmodeled dynamics and uncertainties of the underdriven system, Abro et al. proposed an intelligent control method based on linear extended state observer and fuzzy sliding mode control. Considering the under-drive characteristics of spacecraft under thrust vector control, this paper designs an intelligent control algorithm based on the adaptive fuzzy observer and enhanced coupling strategy, which solves the problem of weak coupling of roll channel with the help of enhanced coupling, and realizes the accurate approximation of strong interference uncertainty by combining the adaptive fuzzy observer, so as to improve the robustness of under-drive control under strong attitude interference.
In order to solve the problems of strong attitude disturbance suppression and underdrive control during rapid maneuvering and orbit change, the dynamic model of attitude error of spacecraft is established firstly, and the underdrive characteristics of the system are analyzed. Then, in order to solve the problems of weak coupling and strong interference uncertainty of the roll channel, combined with the enhanced coupling control law and the adaptive fuzzy observer, a three-axis attitude intelligent control method for under-driven spacecraft based on thrust vector control was designed. Finally, the effectiveness and superiority of the design method are verified by comparing the simulation with the hierarchical sliding mode control method.
2. Synopsis of the article
During the fast orbital maneuver, in order to solve the problem of strong attitude interference caused by thrust eccentricity and installation error under solid propulsion, an intelligent control method for spacecraft attitude underdrive based on thrust vector control technology was proposed. Firstly, a dynamic model of spacecraft attitude error is established, and the under-driving characteristics of thrust vector control input are analyzed. Then, considering the problems of strong interference uncertainty and weak roll-over channel coupling, an under-driven intelligent control law based on enhanced coupling strategy and adaptive fuzzy observer is designed, combined with fuzzy logic function to approximate the strong interference uncertainty and introduced into the control law, to realize the attitude under-driven intelligent control of spacecraft, and the stability of the system is proved by Lyapunov theory. Finally, by comparing and simulating with the layered sliding mode control method, it is verified that the designed method can shorten the three-axis attitude stability time by 14%, and effectively eliminate the static difference caused by the weak coupling of the roll channel, which provides a basis for the strong interference suppression technology during fast orbital maneuvering.
3. Summary and outlook
In order to solve the problem of strong attitude interference suppression during rapid orbital maneuvering, a three-axis attitude intelligent control method for under-driven spacecraft based on thrust vector control technology is studied. Firstly, the dynamic modeling of the under-driven spacecraft and the analysis of the under-driving characteristics of the thrust vector nozzle were completed. Then, considering the problems of weak roll-over channel coupling and strong interference uncertainty, an under-driven intelligent attitude control law based on enhanced coupling strategy and adaptive fuzzy observer is designed, and the strong interference uncertainty term of the system is approximated by the fuzzy logic system and the adaptive law, so as to improve the robustness of the intelligent control system and complete the stability analysis. Finally, compared with the hierarchical sliding mode control method, the proposed method can effectively enhance the coupling relationship between the roll channel and the rest of the channels, and has excellent underdrive control performance, which provides an important theoretical basis for the underdrive spacecraft to effectively overcome strong attitude interference during fast orbital maneuvers.
2. About the author
Meng Zhongjie is a professor at the School of Astronautics, Northwestern Polytechnical University, with research interests in spacecraft planning and control, and dynamics and control of space rope-tied robots.
First trial: Zhang Yanling review: Song Qifan
Final Judge: Jin Jun
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