The invention discloses a spacecraft obstacle avoidance control method based on ellipsoid description. The method is used for achieving autonomous obstacle avoidance of a target spacecraft and a tracking spacecraft and comprises the steps: establishing a coordinate system; establishing a relative kinetic equation; determining the shortest distance between an obstacle and the tracking spacecraft; establishing an artificial potential function; calculating an attraction control force; calculating a repulsion control force and calculating a total control force. According to the spacecraft obstacleavoidance control method based on ellipsoid description, the ellipsoid is adopted to describe the appearances of the spacecraft and the obstacle, and the modeling precision can be improved so as to improve the spacecraft control precision; meanwhile, a repulsion potential function is designed by applying a Sigmoid function to generate an obstacle avoidance control force; the attraction potentialfunction is designed by using the state-dependent Riccati equation to generate the attraction control force, and the integrated design of the corresponding controller is completed by using the terminal sliding mode control theory, so that the rapid obstacle avoidance control of the spacecraft can be realized; the control precision is high, the fuel consumption rate is low, and the method can be suitable for the on-orbit real-time operation of the spacecraft.

    本发明公开了一种基于椭球体描述的航天器避障控制方法。该方法用于实现目标航天器和跟踪航天器的自主避障,包括步骤:建立坐标系、建立相对动力学方程、确定障碍物和跟踪航天器的最短距离、建立人工势函数、计算吸引控制力、计算排斥控制力和计算总控制力。本发明的基于椭球体描述的航天器避障控制方法采用椭球体描述航天器与障碍物外形,能够提升建模精度以提高航天器控制精度;同时,通过运用Sigmoid函数设计斥力势函数以生成避障控制力,通过运用状态依赖黎卡提方程设计吸引势函数以生成吸引控制力,利用终端滑模控制理论完成相应控制器的一体化设计,能够实现航天器的快速避障控制,控制精度高,燃料消耗率低,能适用于航天器的在轨实时运行。


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    Titel :

    Spacecraft obstacle avoidance control method based on ellipsoid description


    Weitere Titelangaben:

    基于椭球体描述的航天器避障控制方法


    Beteiligte:
    CAO LU (Autor:in) / RAN DECHAO (Autor:in) / LIU YONG (Autor:in) / WANG JIAN (Autor:in) / ZHANG FEI (Autor:in) / WANG KAI (Autor:in)

    Erscheinungsdatum :

    27.11.2020


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64G Raumfahrt , COSMONAUTICS / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL





    Obstacle Avoidance Guidance and Control Algorithm for Spacecraft Maneuvers

    Martinson, N. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2009