The invention discloses a space non-cooperative target autonomous attachment convex trajectory guidance method, and belongs to the technical field of deep space exploration. The implementation method comprises the following steps: establishing a kinetic equation and a three-dimensional convex trajectory constraint of the detector under a spatial non-cooperative target surface fixed connection coordinate system; and establishing a dynamic vertical plane coordinate system, performing equivalent conversion on x-axis and y-axis coordinate information, and further performing constraint relaxation on the three-dimensional convex trajectory. Equality constraints with curvature relaxation terms are rewritten into the form of a curvature sliding mode surface, and it is guaranteed that the detector moves along a geometric convex track when the detector system state is located on the sliding mode surface. The curvature sliding mode feedback guidance law is designed based on the curvature sliding mode surface, the detector system state is converged to the sliding mode surface within finite time and moves along the sliding mode surface, the convex track state is kept, accurate attachment is completed at the preset moment, and attachment safety is improved. According to the method, through efficient switching of the sliding mode control item sat (s), the resistance to the initial state deviation of the detector and the dynamic environment interference is improved.
本发明公开的空间非合作目标自主附着凸轨迹制导方法,属于深空探测技术领域。本发明实现方法为:建立探测器在空间非合作目标表面固连坐标系下的动力学方程和三维凸轨迹约束。建立动态竖直平面坐标系,对x轴和y轴坐标信息进行等效转化,进而对三维凸轨迹约束松弛。将拥有曲率松弛项的等式约束改写为曲率滑模面的形式,保证探测器系统状态位于滑模面上时,探测器沿几何凸轨迹运动。基于曲率滑模面设计曲率滑模反馈制导律,实现探测器系统状态在有限时间内收敛到滑模面,并沿着滑模面运动,保持凸轨迹状态在预设时刻完成精准附着,提高附着安全性。本发明通过滑模控制项sat(s)的高效切换,提高对探测器初始状态偏差和动力学环境干扰的抵抗性。
Space non-cooperative target autonomous attachment convex trajectory guidance method
空间非合作目标自主附着凸轨迹制导方法
2023-12-01
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS |
Non-cooperative target attachment multi-node intelligent cooperative guidance method
European Patent Office | 2023
|