多航天器协同飞行动力学分解建模与控制

Dynamical decomposition modeling and control of multi-spacecraft coordinated flying

研究了一种基于动力学分解的多航天器协同飞行动力学建模与控制方法.设计了分解算法,将涉及复杂运动的多航天器协同飞行动力学分解为分别反映多航天器整体协同飞行的整体系统动力学和反映多个航天器之间相对运动的队形系统动力学,且这两个子系统的动力学模型与单个航天器的动力学模型具有类似的形式;分别控制这两个子系统即可实现多航天器的队形保持、重构以及整体的大范围转移.设计了整体系统和队形系统的跟踪控制律,并利用李亚普诺夫稳定理论证明了其稳定性.仿真检验了分解算法和控制方法的有效性和合理性.

This paper presents a dynamics modeling and control scheme for multi-spacecraft coordinated flying based on dynamical decomposition. With certain decomposition arithmetics, physically separated spacecrafts can be connected together, and multi-spacecraft coordinated flying involved in complicated motions can be decomposed into two parts, one is the group motion of multi-spacecraft flying and the other is the relative motion of spacecrafts formation flying. The dynamics models of these two subsystems possess the similar form with that of a single spacecraft, and the formation maintenance, reconfiguration and formation transfer within a large scope can be realized by controlling one of the subsystems. Tracking control laws for group system and forma- tion system are also designed, and their stability is proved by Lyapunov theorem. Simulation results validate the effectiveness of the decomposition arithmetics and the control scheme-