变质心航天器编队飞行协调控制问题研究

Multi-spacecraft formation flying has a wide range of application requirements in stereoscopic vision, space interferometry, and intermittent navigation. The moving mass control technology applied to the spacecraft attitude control in low earth orbit has the advantages of low consumption, long life, and high control accuracy. This project studies attitude-moving mass coupling, attitude coordination, and formation reconfiguration for the distribution moving mass spacecraft based on the aerodynamic force. The motion law, stability condition, and bifurcation characteristics of the spacecraft by moving mass control are investigated by the dynamic method to reveal the control mechanism and dynamic behavior. The results can provide reasonable parameters for moving mass spacecrafts. The attitude cooperative control law based on event-driven, which considered with the coupling of attitude and moving mass, and saturation, is designed for attitude consensus and reducing consumption. For the requirement of the formation, the optimization problem considered the attitude coupling constraints is solved by the convex optimization theory and multi-step subgradient method. The convergence speed is investigated to implement the online planning. This research will provide overall scheme and theoretical foundation for the distribution spacecraft formation flying .

多航天器编队飞行在对地立体成像、空间干涉测量、间断式定位导航等领域具有广泛的应用需求，而在低轨环境下采用变质心技术控制航天器姿态和轨道具有能耗低、寿命长、控制精度高的优势。本项目以基于气动力作用的分布式变质心航天器编队飞行为研究背景，开展航天器姿态/滑块多体耦合问题、姿态协同控制及队形重构问题的研究。通过分析滑块控制的姿态运动规律、稳定条件和分岔特性等，揭示变质心系统的动力学行为和控制机理，为变质心航天器提供合理的总体参数；考虑姿态/滑块耦合及控制饱和约束，研究基于事件驱动的姿态协同控制算法，以实现多航天器姿态一致性并降低分布式系统能耗；针对在轨运行中的队形重构需求，采用凸优化理论和多步次梯度算法求解考虑姿态/滑块耦合约束的队形重构问题，研究如何提高算法收敛速度从而实现在线规划问题。本项目的研究成果将为我国低轨航天器编队飞行提供可行的总体方案和理论依据。

变质心控制技术应用于微小卫星的姿态控制具有低能耗，寿命长，控制精度高等优点，因此由变质心航天器组成的分布式空间系统能够以较低的成本完成长周期的空间任务。本项目以基于气动力作用的分布式变质心航天器为背景，针对编队飞行中的姿态协同和队形重构两大问题开展研究。采用动力学分析方法对变质心航天器的运动规律、稳定条件、分岔特性等进行了分析，揭示了变质心航天器的控制机理和动力学行为；基于变质心控制的特点，考虑姿态/滑块耦合及滑块饱和特性，研究基于李雅普诺夫函数的姿态协同控制算法，在实现多航天器姿态一致性的同时，降低分布式系统的能耗；研究考虑姿态/滑块耦合约束的队形重构问题，采用博弈理论+多步次梯度算法求解队形重构的优化问题，提高在考虑通信拓扑约束下算法的收敛速度。本项目致力于解决采用变质心控制的多航天器编队飞行的关键问题，为我国未来的分布式航天器空间任务提供了可行的总体方案和理论依据。