Aerospace Contrd and Application

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26 August 2022, Volume 48 Issue 4

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Select A Robust Trajectory Planning Method for Skip Reentry

HAN Minglin, HU Jun

2022, 48(4): 1-8. doi:10.3969/j.issn.1674 1579.2022.04.001

Abstract ( 76 )

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Aiming at the problem of skip reentry trajectory planning, and considering the initial state deviations and the uncertainty of the atmosphere’s parameters, a modeling method for the reentry trajectory optimization problem with state augmention is proposed. The constraints of dynamic pressure, load factor and heating rate are redefined by transforming path constraint into equality constraint. Moreover, the augmented reentry model and the extended augmented reentry model are established respectively to ensure the adaptability of the reentry trajectory optimization problem to initial shift and parameter disturbance. Numerical simulations demonstrate that the proposed method has the robustness to the initial state deviations and the uncertainty of the atmosphere’s parameters, the constraints of dynamic pressure, load factor and heating rate satisfy the design requirements, and the trajectory is precisely planned to the desired landing point, therefore it has good engineering background and significance.

Select Multisource Dataset for Intelligent Precise Perception and Manipulation of Extraterrestrial Object Surface

XING Yan, JIANG Tiantian, JIA Yong, LIU Lei, YANG Mengfei

2022, 48(4): 9-16. doi:10.3969/j.issn.1674 1579.2022.04.002

Abstract ( 151 )

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The future extraterrestrial exploration has shown a broad application prospect of artificial intelligence. The detector can actively perceive and understand the environment, find high value targets, make reliable reasoning and effective decisions, and realize the mission objectives through high precision navigation and manipulation. The surface scene of extraterrestrial objects is complex and unknown, and the physical and chemical characteristics such as topography and geology are hard to be measured directly or be determined. The research on intelligent perception and manipulation for extraterrestrial object surface exploration lacks effective training and testing data set. This paper introduces the a multi source dataset TianQu1.0 for intelligent precise perception and manipulation of extraterrestrial object surface, which is established by the Extraterrestrial Intelligent Unmanned System Laboratory of Beijing Institute of control engineeringunder the conditions of simulated extraterrestrial test yard. The data set includes multi source environment perception data, the surface mobile detector’s own state data and accurate external measurement data, so as to provide basic data sets and experimental verification conditions for, and promotes the research on the theory, method and technology application of artificial intelligence in deep space exploration.

Select Active Damping and Relative Position Control for Large Antenna

FENG Xiao, TANG Liang, GUAN Xin, HAO Renjian, ZHANG Kebei

2022, 48(4): 17-26. doi:10.3969/j.issn.1674 1579.2022.04.003

Abstract ( 88 )

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An active damping and relative position control system is proposed for spacecraft with large antenna in this paper. This system employs a camera to measure the vibration of the antenna, and an active pointing ultra quiet platform for actuation. Research efforts are made in the modeling and control design of such a system, and the performance of the system is evaluated through both numerical and experimental tests. Because the camera measures the tip motion of the antenna and the actuators are placed at the root of the antenna, non collocated control techniques must be employed. A controller is proposed that can achieve both active damping and position control of the antenna. The controller consists of an integral controller and a structural filter in series connection. It can also be interpreted as a proportional integral differential control with a low pass filter. The controller provides active damping for the first flexible mode while stabilizing higher order modes. Based on this controller, a two stage controller is also designed for the coupled spacecraft antenna dynamics. Numerical and experimental tests show that the proposed control system can rapidly attenuate the vibration of the antenna, and the settling time is shorten to 1/10~1/100 of that of free vibration. It is also demonstrated that the proposed control system provides rapid position control capability for the antenna.

Select Reaction Wheel Configuration Optimization Method Based on Fault and Under Actuated Condition

FENG Jiajia, XIE Jun, LI Fei

2022, 48(4): 27-35. doi:10.3969/j.issn.1674 1579.2022.04.004

Abstract ( 42 )

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Autonomous control is an important goal pursued in the design of spacecraft control systems. Aiming at maximizing the control ability of the actuator in the control system under the limited configuration resource, a reaction wheel configuration optimization method is proposed, which considers the fault and under actuated condition, and comprehensively considers the reaction wheel control capability in the fault and under actuated stage. Firstly, the description of the optimization problem of the simple 4 wheeled reaction wheel configuration is carried out according to the purpose of the reaction wheel configuration. Secondly, according to the possible failure situation of the reaction wheel in the whole life stage, the control ability of the 4wheeled reaction wheel in the fault stage is analyzed. Thirdly, according to the control ability of the 4 wheeled reaction wheel in each fault stage, the reaction wheel configuration optimization model is established to find the optimal configuration under the whole life stage. Finally, the configuration of a project instance is analyzed via this method. The simulations are carried out for the three working stages that may occur. The results show that the proposed method can effectively realize the autonomous operation of the spacecraft, which proves that the proposed method is feasible and effective, and thus has certain engineering value.

Select Comparative Research on Alignment Methods of Spacecraft on Moving Base before Launch

GONG Yulian, WANG Wu, MA Nan, YAN Shi

2022, 48(4): 36-45. doi:10.3969/j.issn.1674 1579.2022.04.005

Abstract ( 53 )

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The initial self alignment for a kind of spacecraft which requires autonomous navigation from the launch phase is studied in this paper. Three classical self alignment methods of SINS including analytical coarse alignment, compass alignment and inertial frame based alignment are presented and analyzed. Firstly, the adaptability of these different methods in different scenes is analyzed, and then the influence of the measurement error characteristic of IMU is studied. Finally, an improved gyro compassing alignment method adapted to periodic shaking base is designed to solve the self alignment in the environment of slightly shaking launch vehicle. Through the Monte Carlo simulation under different IMU measurement noise combinations, the results and accuracy of the gyro compassing alignment method and inertial frame based alignment method are numerically analyzed, which provides a basis for the scheme selection in engineering practice.

Select Distributed Satellite System Dynamic Task Collaborative Assignment Algorithm

LIU Yewei, ZHOU Qingrui, HUANG Hao

2022, 48(4): 46-53. doi:10.3969/j.issn.1674 1579.2022.04.006

Abstract ( 107 )

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The development of distributed satellite systems brings challenges to mission planning. The traditional centralized mission planning methods are increasingly difficult to meet the needs of large number of satellites, dynamic mission, and large mission volume. At the same time, centralized methods also have the disadvantage of insufficient robustness. Combining actual engineering constraints and application requirements, this paper designs a dynamic mission planning algorithm for distributed satellite systems based on greedy algorithm and contract network for the limited conditions of communication networks, and evaluates the effectiveness of the algorithm for typical application scenarios. The simulation verification and analysis show that the task completion degree and communication requirements of the algorithm are significantly lower than those of the traditional contract network algorithm.

Select Autonomous Asteroid Weak Gravity Field Measurement Method Based on Visual Navigation

FU Liangyong, HU Jinchang, LIU Yiwu, DENG Jiaquan

2022, 48(4): 54-63. doi:10.3969/j.issn.1674 1579.2022.04.007

Abstract ( 55 )

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In order to determine the weak gravity field of irregular asteroids with 100 meters in international asteroid exploration mission, a gravity field measurement method based on visual navigation is proposed in this paper. Firstly, after completing three dimensional reconstruction, the optical navigation camera on the probe is used to measure three non collinear feature points of the known positions at intervals to obtain image information. Then the asteroid gravity constant and spherical harmonic coefficients are estimated by weighted least squares batch processing algorithm, which processes the measured data under the probe flight trajectories. Meanwhile, the flight trajectory planning of the probe is also analyzed, which shows that the flight path should be planned with the shape and mass distribution of the asteroid. Finally, the simulation results show that the proposed method can effectively measure the global gravity information of the asteroid in fewer flight paths.

Select Analysis of Coarse Alignment Errors for IMU Parameters and Attitude

WANG Zeguo, WANG Zhiwen, WANG Huaqiang, WANG Yunpeng, WANG Lei, LI Ying

2022, 48(4): 64-69. doi:10.3969/j.issn.1674 1579.2022.04.008

Abstract ( 76 )

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Coarse alignment based on Inertial Measurement Unit (IMU) is considered in the case of static position. Error analysis is provided for the IMU parameters and attitude with respect to local navigation frame. An ideal IMU model is first given and ideal IMU outputs, which consist of angular rates and accelerations, can be obtained. Then, actual IMU outputs are obtained with the consideration of uncertainties in IMU parameters, including gyro drift, accelerometer bias, and misalignment deviations. A standard coarse alignment method is implemented and the transformation matrix between IMU body frame and navigation frame can be obtained directly. The coarse alignment error is analyzed and its practical meaning is given. Numerical simulations illustrate the alignment errors for three cases with different IMU parameters, and the error is compared with IMU body attitude. Finally, experimental results are presented to show that this method could help validate the correctness of IMU measurement output.

Select Trajectory Tracking Control of Three Link Manipulator Based on Auto Coupling PID

CHEN Liqiu, ZENG Zhezhao

2022, 48(4): 70-77. doi:10.3969/j.issn.1674 1579.2022.04.009

Abstract ( 75 )

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Aiming at the trajectory tracking problem of three link manipulator, an auto coupling PID control theory method was used. In this method, the known or unknown dynamics and external disturbances of each joint of the three link manipulator were defined as three total disturbances, and then the nonlinear system of each joint was mapped to an unknown linear system. According to the auto coupling PID control theory, three auto coupling PID control subsystems were established for the three link manipulator system to realize the independent tracking control of each joint. It was analyzed that each closed loop control subsystem had good robust stability and anti disturbance robustness. The simulation results verified the effectiveness of the proposed method and had important application prospects in the field of manipulator trajectory tracking control.

Select A Method to Improve Attitude Measurement Accuracy with Multi FOV Star Sensor

CHENG Huiyan, ZHENG Ran, WU Yanpeng, ZHANG Tengfei, WANG Miaomiao

2022, 48(4): 78-85. doi:10.3969/j.issn.1674 1579.2022.04.010

Abstract ( 75 )

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Affected by the space environment, the relative installation errors among optical heads of multi head star sensor vary periodically in orbit, which directly affects the accuracy of fusion. A method is proposed to improve the attitude measurement accuracy of multi FOV star sensors. The star vector error is used as the observation to estimate and compensate the installation matrix error between two optical heads in real time. Based on star vector error characteristics, the installation error estimation parameters are corrected to improve the accuracy of matrix estimation. A multi field star selection strategy is designed and adopted to select high quality stars for fusion attitude calculation.Ground simulation and in orbit application results show that the method can achieve the same accuracy of the three axis attitude. The accuracy is improved by more than 30% compared with the single head.

Select Fractional Sliding Mode Fault Tolerant Control of Speed for Servo Motor

QIN Minghuang, TAO Xu, DIAN Songyi, GUO Bin

2022, 48(4): 86-95. doi:10.3969/j.issn.1674 1579.2022.04.011

Abstract ( 84 )

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Aiming at the problem that the control accuracy of the servo system decreases due to the failure of the three phase surface mount permanent magnet synchronous motor, a fractional order sliding mode fault tolerant control method based on online real time fault estimation is proposed. Firstly, a fault model of the drive motor is established; secondly, a fault observer based on the nonlinear disturbance observer is designed according to the fault model, which can estimate the fault information of the drive motor in real time online. In addition, based on the observation information of the observer, a fractional order sliding mode fault tolerant control method of the drive motor is proposed. Compared with the traditional sliding mode control method, the proposed sliding mode controller based on the fractional order theory improves the response speed and is smaller in steady state errors, and reduces the chattering phenomenon of traditional sliding mode controllers. Finally, simulations verify the feasibility and effectiveness of the proposed control method.

Select Optimal Adjustment Method for Satellite Array Antennas

CHEN Ye, PENG Haikuo, LI Qi, ZHANG Rubian, WANG Meng

2022, 48(4): 96-103. doi:10.3969/j.issn.1674 1579.2022.04.012

Abstract ( 55 )

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Surface accuracy is critical for the performance of satellite antennas. As the size increases, conventional passive thermal control methods for surface accuracy cannot satisfy the requirement of high precision and high resolution remote sensing satellites. An intelligent adjustment method is proposed in this article. To achieve the optimal surface accuracy, several actuators, whose displacement outputs are assigned by intelligent adjust algorithm, are installed on the back of antenna surface. Based on the surface adjustment simulation system, consisting of a heating system, a surface measuring system and a control system, an experiment under 50℃, 75℃ and gradient temperature is conducted respectively to adjust the deformation of antenna surface. The results show that after adjustment, the RMS error of antenna surface is reduced by more than 60% and blow 30μm, which provides a reference for the application of intelligent adjustment method in satellite engineering.

Select Anomaly Detection for Satellite Power System Based on Gaussian Mixture Model

WEI Juhui, WANG Jiongqi, MU Jingjing, HE Zhangming, ZHOU Xuanying

2022, 48(4): 104-114. doi:10.3969/j.issn.1674 1579.2022.04.013

Abstract ( 84 )

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Satellite power system usually has a variety of working modes, and the observation data in different working modes have different statistical characteristics. Due to the fact that the actual observation data of satellite power system cannot provide the state identification priori information, the traditional anomaly detection methods cannot distinguish the different working modes of the satellite power system. Therefore, the traditional methods have great limitations. In order to solve the problem of anomaly detection without state identification, a data driven anomaly detection method is proposed for satellite power system based on Gaussian mixture model (GMM). As a data clustering method, GMM can mine the intrinsic characteristics of data in the lack of working state identification, and realize the clustering and recognition of multiple working modes. Then, indexes are given to evaluate the GMM method from three aspects: distinguishability, stability and information. These criteria can ensure that the cluster number is reasonable. Furthermore, in the anomaly detection stage, the trained GMM is used to construct the pattern recognition criteria. The distance information and F distribution are used to construct the detection threshold. And the detection effect is improved by increasing the window length of the testing data. Finally, numerical simulation and experimental verification are carried out for the solar array drive assembly (SADA) of satellite power system. The results of anomaly detection show that the proposed method can effectively realize anomaly detection in a variety of working modes, and has high precision and recall rate.