The invention discloses a non-cooperative target attachment multi-node intelligent cooperative guidance method, and belongs to the technical field of deep space exploration. The implementation method comprises the steps that a cooperative guidance framework of main thrust and compensation thrust is adopted, the main thrust is used for guaranteeing that each node achieves double-zero attachment to a target, the compensation thrust is used for keeping the attitude of a lander stable in the attachment process, and node thrust conflicts are reduced. And calculating the main thrust by using an energy optimal control strategy. Aiming at the characteristic that a multi-node collaborative attachment problem accords with a multi-agent Markov decision process, a multi-agent system for determining multi-node compensation thrust guidance parameters is constructed. And each node gives a guidance parameter according to the intelligent agent corresponding to the node, and the compensation thrust is calculated in combination with an energy optimal control strategy of rolling optimization. A reward function is designed according to the three-node state to meet the attitude stability constraint, and the safety is improved; a neural network loss function is designed according to the three-node action, node thrust conflict and thrust saturation are reduced, and fuel consumption is reduced.
本发明公开的非合作目标附着多节点智能协同制导方法,属于深空探测技术领域。本发明实现方法为:采用主推力加补偿推力的协同制导架构,主推力用于保证每个节点实现到目标的双零附着,补偿推力用于保持附着过程中着陆器姿态平稳,减小节点推力冲突。使用能量最优控制策略计算主推力。针对多节点协同附着问题符合多智能体马尔可夫决策过程的特点,构建用于确定多节点补偿推力制导参数的多智能体系统。每个节点根据节点对应智能体给出制导参数,结合滚动优化的能量最优控制策略计算补偿推力。根据三节点状态设计奖赏函数用于满足姿态平稳约束,提升安全性;根据三节点动作设计神经网络损失函数减少节点推力冲突和推力饱和,降低燃料消耗。
Non-cooperative target attachment multi-node intelligent cooperative guidance method
非合作目标附着多节点智能协同制导方法
2023-08-22
Patent
Electronic Resource
Chinese
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