CN112678208B - Satellite swarm control method based on artificial potential field method with dynamic avoidance and damping characteristics - Google Patents
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Abstract
本发明公开了一种基于包含动态规避和阻尼特性人工势场法的卫星集群控制方法，包括：以主星为中心，对其通信区域进行划分，在不同的区域采用不同的人工势场，从而维持卫星集群的构型稳定；根据卫星集群中成员的相对位置和相对速度，设计以每颗成员卫星为中心的包含动态规避的人工势场法控制器，保证集群中的成员卫星在任务期间不发生碰撞；针对空间任务需求增加，现有卫星个数不足以完成任务的情况，设计了包含阻尼特性的人工势场法控制器，能够有效的保证，新加入的卫星能安全可靠的加入当前集群，构成新的集群。该方法适用于空间摄动条件下卫星集群的构型维持，碰撞规避，以及集群重组。
The invention discloses a satellite cluster control method based on an artificial potential field method including dynamic avoidance and damping characteristics. The configuration of the satellite cluster is stable; according to the relative positions and relative speeds of the members in the satellite cluster, an artificial potential field method controller with dynamic avoidance centered on each member satellite is designed to ensure that the member satellites in the cluster do not occur during the mission. Collision; for the situation that the demand for space missions increases and the number of existing satellites is insufficient to complete the mission, an artificial potential field method controller with damping characteristics is designed, which can effectively ensure that the newly added satellites can join the current cluster safely and reliably. form a new cluster. The method is suitable for configuration maintenance, collision avoidance, and swarm reorganization of satellite swarms under spatial perturbation conditions.
Description
Technical Field
The invention relates to the technical field of satellite control, in particular to a satellite cluster control method based on an artificial potential field method including dynamic evasion and damping characteristics.
Background
With the continuous development of aerospace technology, a group consisting of a plurality of intelligent small satellites can completely realize complex functions of some traditional large satellites through networking flight by sharing information and tasks, although the small satellites are relatively simple in function, the cost and risk born by the large satellites can be greatly reduced, and the flexibility and robustness of the system are remarkably enhanced. The main challenges of satellite constellation arise from the dynamic coupling between the satellites and the environment, and the satellite constellation, when moving in space, will face environmental disturbances, such as J2 perturbation, air resistance, and solar pressure, which, if no active control is used, will cause the satellites to drift rapidly away from each other, eventually making it difficult to maintain the integrity of the constellation.
The artificial potential field method is a virtual force method proposed by Khatib, and is initially used for controlling a mobile robot, and the basic idea is that the motion of the robot in the surrounding environment is designed into an abstract motion in an artificial gravitational field, a target point generates attraction to the mobile robot, an obstacle generates repulsion to the mobile robot, and finally the motion of the mobile robot is controlled by solving the resultant force. The artificial potential field method can artificially set a motion forbidden zone, is simple in mathematical description and is very suitable for satellite cluster control with relatively low control requirements.
In the control process of the satellite cluster, not only is the integrity of the cluster maintained, but also collision avoidance among cluster members needs to be considered, and a collision avoidance strategy based on an artificial potential field method of relative positions simply cannot meet task requirements under certain special conditions. Meanwhile, when the task demand is increased, the number of the existing satellites is not enough to complete the task, a certain number of satellites are usually required to be supplemented to join the cluster, and in order to solve the problem, a satellite cluster control method based on an artificial potential field method including dynamic evasion and damping characteristics is necessary to be provided.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a satellite cluster control method based on an artificial potential field method containing dynamic avoidance and damping characteristics, and the method is used for collision avoidance cluster recombination.
In order to achieve the above purpose, an embodiment of the invention provides a satellite cluster control method based on an artificial potential field method including dynamic avoidance and damping characteristics, which includes the following steps: step S1, establishing an LVLH coordinate system by taking the main satellite as a center, and dividing the space around the main satellite into six areas by the communication distance of the main satellite; step S2, determining the positions and speeds of all the slave stars in the current master star communication area relative to the master star under the LVLH coordinate system; step S3, determining the overall communication topology of the satellite cluster including the master star and all the slave stars; step S4, determining the specific area of the slave star near the main star according to the position and the speed of the slave star relative to the main star, and executing a cluster maintenance control strategy based on an improved artificial potential field method with the main star as the center; step S5, obtaining the connection relation between the satellites according to the overall communication topology of the satellite cluster, and executing a satellite cluster anti-collision control strategy based on an artificial potential field method including dynamic avoidance in step S4; and step S6, determining the newly added satellite according to the step S5, and adopting a control strategy based on an artificial potential field method containing damping characteristics.
According to the satellite cluster control method based on the artificial potential field method including the dynamic evasion and damping characteristics, the communication area of the main satellite is divided by taking the main satellite as the center, and different artificial potential fields are adopted in different areas, so that the configuration stability of the satellite cluster is maintained; designing an artificial potential field method controller which takes each member satellite as a center and contains dynamic avoidance according to the relative position and relative speed of the members in the satellite cluster, and ensuring that the member satellites in the cluster do not collide during a task; aiming at the situation that the space task demand is increased and the number of the existing satellites is not enough to finish the task, the artificial potential field method controller with the damping characteristic is designed, so that the situation that the newly added satellites can be safely and reliably added into the current cluster to form a new cluster can be effectively guaranteed.
In addition, the satellite cluster control method based on the artificial potential field method including the dynamic avoidance and damping characteristics according to the above embodiment of the present invention may further have the following additional technical features:
further, in an embodiment of the present invention, the six regions are a no-fly region, a strong-repulsion region, a repulsion transition region, a free-flight region, an attraction transition region and a strong-attraction region, respectively, wherein a damping region is disposed in a region other than the no-fly region and the free-flight region, and the damping region covers the strong-repulsion region, the repulsion transition region, the attraction transition region and the strong-attraction region.
Further, in an embodiment of the present invention, the cluster maintenance control strategy in step S4 adopts a modified artificial potential field method with a repulsive force transition region and a gravitational force transition region, and the expression is:
where ρ isi＝[xi,yi,zi]Is the position of the ith slave star relative to the master star under the LVLH coordinate system taking the master star as the center, ui1As a function of repulsive potential, ηi1For repulsion gain, d is the radius of the safe distance of the main satellite from the outer edge, r1Is the inner edge radius of the repulsive transition region, r2Is the outer edge radius of the repulsive transition region, ui2Is a gravitational potential function, etai2For gravitational gain, h is the radius of the outer edge of the free flight zone, a1Is the radius of the inner edge of the gravitational transition zone, a2Is the outer edge radius of the gravitational transition zone, Ki1、Ki2To control the gain.
Further, in an embodiment of the present invention, in step S5, an expression of the satellite cluster collision avoidance control policy based on the artificial potential field method including dynamic avoidance is as follows:
wherein u isi3For using manpowerRepulsion function, a, commonly used in potential field methodsijFor the element, eta, of the ith row and jth column of the topological adjacency matrix of the trunking communicationi3For gain of repulsion, ρi＝[xi,yi,zi]Is the position of the ith slave star relative to the master star under the LVLH coordinate system taking the master star as the center, rhoj＝[xj,yj,zj]Is the position vector of the jth slave star relative to the master star under the LVLH coordinate system taking the master star as the center, diIs the safe distance outer edge radius of the ith satellite, DiIs the acting radius of the artificial potential field of the ith satellitei4For using dynamic artificial potential field controllers based on relative velocity between satellites, Ki3、Ki4To control the gain, ηi4In order to gain the repulsive force,
is the velocity vector of the ith slave star relative to the master star under the LVLH coordinate system,
the velocity vector of the jth slave star relative to the master star in the LVLH coordinate system.
Further, in an embodiment of the present invention, the expression of step S6 is:
wherein u isi5As a damping controller, Ki5To control the gain, ηi5In order to be a damping coefficient of the damping,
is the velocity vector of the i-th slave star relative to the master star under the LVLH coordinate system, d is the safe distance outer edge radius of the master star, rhoi＝[xi,yi,zi]Is centered on the main starThe position of the ith slave star relative to the master star in the LVLH coordinate system of (r)2Is the outer edge radius of the repulsive force transition region, h is the outer edge radius of the free flight region, a2The radius of the outer edge of the gravity transition area.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a satellite cluster control method based on an artificial potential field method including dynamic avoidance and damping characteristics according to an embodiment of the invention;
FIG. 2 is a schematic diagram of division of a communication area of a main satellite;
FIG. 3 is a three-dimensional motion map of a satellite constellation;
FIG. 4 is a graph of the range of a slave satellite relative to a master satellite in a satellite constellation;
fig. 5 is a diagram of relative distances between satellites of a satellite cluster.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The satellite cluster control method based on the artificial potential field method including dynamic avoidance and damping characteristics proposed according to the embodiment of the invention is described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a satellite cluster control method based on an artificial potential field method including dynamic avoidance and damping characteristics according to an embodiment of the present invention.
As shown in fig. 1, the method comprises the steps of:
in step S1, an LVLH coordinate system is established centering around the master satellite, and the space around the master satellite is divided into six regions with the communication distance of the master satellite.
Further, as shown in fig. 2, the six regions in step S1 are a no-fly region, a strong repulsion region, a repulsion transition region, a free flight region, an attraction transition region, and a strong attraction region, respectively, and a damping region is provided in a region other than the no-fly region and the free flight region, and covers the strong repulsion region, the repulsion transition region, the attraction transition region, and the strong attraction region.
In step S2, the position and velocity of all the slave stars in the communication area of the current master star relative to the master star in the LVLH coordinate system are determined.
For example, the positions and velocities of the master satellite and the slave satellites in the constellation under the inertial system can be obtained in real time through a GPS, and the positions and velocities of the slave satellites under the LVLH coordinate system centered on the master satellite are calculated in real time through coordinate transformation.
In step S3, the overall communication topology of the satellite cluster including the master star and all the slave stars is determined.
Specifically, in the cluster, the distance between any two satellites is regarded as the inter-satellite communication as long as the distance is within the communication range, and further, the overall communication topology of all satellites in the cluster can be obtained.
In step S4, a specific area of the slave star near the master star is determined according to the position and speed of the slave star relative to the master star, and a cluster maintenance control strategy based on the improved artificial potential field method centered on the master star is executed.
Specifically, the outer edge radius of the no-fly zone is determined by taking the actual safe distance of the main satellite as a basis, the radius of the strong-attraction zone is determined by taking the limit communication distance of the main satellite as a basis, and the rest zones can be flexibly divided according to the specific task requirements. In step S4, the satellite cluster maintenance control strategy adopts an improved artificial potential field method with a transition region to ensure that the slave star can operate within the safe distance and the communication distance of the master star, and the expression is as follows:
where ρ isi＝[xi,yi,zi]Is the position of the ith slave star relative to the master star under the LVLH coordinate system taking the master star as the center, ui1As a function of repulsive potential, ηi1For repulsion gain, d is the radius of the safe distance of the main satellite from the outer edge, r1Is the inner edge radius of the repulsive transition region, r2Is the outer edge radius of the repulsive transition region, ui2Is a gravitational potential function, etai2For gravitational gain, h is the radius of the outer edge of the free flight zone, a1Is the radius of the inner edge of the gravitational transition zone, a2Is the outer edge radius of the gravitational transition zone, Ki1、Ki2To control the gain.
In step S5, a connection relationship between satellites is obtained according to the overall communication topology of the satellite cluster, and a satellite cluster collision avoidance control strategy based on an artificial potential field method including dynamic avoidance is executed based on step S4.
Specifically, in step S5, in order to avoid collision of satellites in the constellation, collision avoidance control of the satellite constellation based on an artificial potential field method including dynamic avoidance is adopted, and an expression is as follows:
wherein u isi3To use the repulsion function commonly used in the artificial potential field method, aijFor the element, eta, of the ith row and jth column of the topological adjacency matrix of the trunking communicationi3For gain of repulsion, ρi＝[xi,yi,zi]Is the position of the ith slave star relative to the master star under the LVLH coordinate system taking the master star as the center, rhoj＝[xj,yj,zj]Is the position vector of the jth slave star relative to the master star under the LVLH coordinate system taking the master star as the center, diIs the safe distance outer edge radius of the ith satellite, DiIs the acting radius of the artificial potential field of the ith satellitei4For using dynamic artificial potential field controllers based on relative velocity between satellites, Ki3、Ki4To control the gain, ηi4In order to gain the repulsive force,
is the velocity vector of the ith slave star relative to the master star under the LVLH coordinate system,
the velocity vector of the jth slave star relative to the master star in the LVLH coordinate system.
In step S6, the newly joined satellite is determined according to step S5, and a control strategy based on an artificial potential field method including damping characteristics is employed.
Specifically, in step S6, when the number of existing satellites is not enough to complete the task and multiple satellites need to fly into the cluster from the star level, a control strategy based on an artificial potential field method including damping characteristics is adopted, and the expression is as follows:
wherein u isi5As a damping controller, Ki5To control the gain, ηi5In order to be a damping coefficient of the damping,
is the velocity vector of the i-th slave star relative to the master star under the LVLH coordinate system, d is the safe distance outer edge radius of the master star, rhoi＝[xi,yi,zi]Is the position of the ith slave star relative to the master star under the LVLH coordinate system taking the master star as the center, r2Is the outer edge radius of the repulsive force transition region, h is the outer edge radius of the free flight region, a2The radius of the outer edge of the gravity transition area.
The satellite cluster control method based on the artificial potential field method including dynamic avoidance and damping characteristics, which is provided by the invention, is further explained through numerical simulation.
In the simulation, a satellite cluster is assumed to contain 1 master star and 5 slave stars. Where 2 slave stars have an initial position within the communication range of the master star and 3 other slave stars fly outside to the master star plan join the cluster. By adopting a control strategy based on an artificial potential field method with damping characteristics, 3 slave satellites flying to the master satellite from the outside can not depart from the communication range of the master satellite after joining the cluster, and simultaneously, all satellites in the cluster can be ensured to fly in a collision-free manner within the communication range of the master satellite. As shown in fig. 3, in the LVLH coordinate system, for the three-dimensional motion diagram of the satellite cluster in space, as shown in fig. 4, the position and velocity of the slave satellite relative to the master satellite are determined, as shown in fig. 5, and the simulation parameters for the communication area division of the master satellite in S1 are set as follows: the safe distance between the main star and the outer edge radius D is 200m, and the action radius D of the artificial potential field of the ith satellitei500m, inner edge radius r of repulsive force transition region1500m, outer edge radius r of repulsive force transition region21000m, 1500m outside radius h of free flight area, and 1500m inside radius a of gravitational transition area12000m, outer edge radius of gravitational transition region a22300m, to obtainRelative distance between stars.
According to the satellite cluster control method based on the artificial potential field method including the dynamic evasion and damping characteristics, provided by the embodiment of the invention, the communication area of the satellite cluster is divided by taking a main satellite as a center, and different artificial potential fields are adopted in different areas, so that the configuration stability of the satellite cluster is maintained; designing an artificial potential field method controller which takes each member satellite as a center and contains dynamic avoidance according to the relative position and relative speed of the members in the satellite cluster, and ensuring that the member satellites in the cluster do not collide during a task; aiming at the situation that the space task demand is increased and the number of the existing satellites is not enough to finish the task, the artificial potential field method controller with the damping characteristic is designed, so that the situation that the newly added satellites can be safely and reliably added into the current cluster to form a new cluster can be effectively guaranteed. The method is suitable for configuration maintenance, collision avoidance and cluster recombination of the satellite cluster under the space perturbation condition.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
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