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首页> 外文期刊>International Journal of Space Science and Engineering >Real-time terminal guidance for autonomous spacecraft capture of free floating objects using model predictive control
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Real-time terminal guidance for autonomous spacecraft capture of free floating objects using model predictive control

机译:实时终端制导,用于使用模型预测控制自动捕获自由浮动物体的航天器

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摘要

This paper investigates the optimal rendezvous with collision avoidance constraint. The classic Hill-Clohessy-Wiltshire (HCW) dynamic model is applied here to effectively describe the relative translation motion. Collisions are prevented through setting a safety sphere centred at the mass centre of the target. The rendezvous scenario of approaching with a three-axis attitude stabilised target is considered in this paper. A light-of-sight (LOS) tetrahedral path constraint is imposed for vision-based sensing and safety considerations. Then, the optimal-fuel rendezvous is transformed into a quadratic programming problem (QPP) using the model predictive control (MPC). Numerical simulations demonstrate that the proposed method can guarantee the safety of the autonomous rendezvous and to minimise the fuel consumption. In addition, this algorithm can be numerically solved rapidly.
机译:本文研究了具有防撞约束的最优集合点。此处使用经典的Hill-Clohessy-Wiltshire(HCW)动力学模型来有效描述相对平移运动。通过设置以目标重心为中心的安全球体,可以防止碰撞。本文考虑了以三轴姿态稳定目标逼近的交会场景。出于基于视觉的感测和安全考虑,施加了视线(LOS)四面体路径约束。然后,使用模型预测控制(MPC)将最佳燃料集合点转换为二次规划问题(QPP)。数值模拟表明,该方法可以保证自主会合的安全性,并最大程度地减少了油耗。另外,该算法可以快速数值求解。

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  • 作者单位

    National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, West Youyi Road, Beilin District, Xi'an, Shaanxi, 710072, China;

    National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, West Youyi Road, Beilin District, Xi'an, Shaanxi, 710072, China;

    National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, West Youyi Road, Beilin District, Xi'an, Shaanxi, 710072, China;

    National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, West Youyi Road, Beilin District, Xi'an, Shaanxi, 710072, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    optimal rendezvous; online trajectory planning; model predictive control; MPC;

    机译:最佳集合点;在线轨迹规划;模型预测控制;MPC;

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