基于对偶数的相对耦合动力学与控制

Dual Number-Based Relative Coupled Dynamics and Control

针对空间交会对接等目标逼近任务中姿态和轨道运动相耦合的问题,推导给出了基于对偶数的相对耦合动力学方程。该方程定量表示了姿态和轨道之间的耦合影响。设计了增量式PID控制器对追赶航天器和目标航天器的相对位置和姿态指向进行一体化控制,并与常规姿态轨道分别控制进行对比,仿真结果表明,一体化控制系统能同时满足控制精度和对接安全性要求,且具有燃料消耗少的优点。

To the mission of rendezvous and docking in space,coupled dynamics equations of relative position and attitude are derived based on dual number. The coupled motion is expressed quantitatively in the equations. An incremental PID controller is designed and applied to the coupled system. The simulation results show that the coupled system can simultaneously satisfy the accuracy and safety requirements,and compared with traditional control system it has an advantage in less energy consumption.