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针对航天器近距离操作中的动态障碍物规避问题,研究了一种燃料较省、精度较高的规避动态障碍物的自适应人工势函数制导方法。首先,对于引入高斯函数形式斥力势会使势函数在收敛点处的值不为零的情况,对斥力势乘以修正项,使得在收敛点的势能为零,消除了平衡点的偏离;在规避静态障碍物的基础上,研究了规避动态障碍物的人工势函数制导。其次,根据速度与引力梯度之间的关系,设计负反馈,使引力势梯度“适应”速度的变化,研究了规避动态障碍物的自适应人工势函数制导。最后,采用精确的数学模型进行数值仿真,验证所设计的制导律的正确性和有效性,并与传统的人工势函数制导对比。仿真结果表明:采用修正势函数提高了收敛精度;自适应人工势函数制导控制脉冲作用施加更加合理,相比人工势函数而言,总速度脉冲消耗可节省30%,精度提高两个数量级。
Aiming at the problem of dynamic obstacle avoidance in close spacecraft operation, an adaptive artificial potential function guidance method to avoid dynamic obstacle with high fuel efficiency and high precision is studied. First of all, for the introduction of repulsive force in the form of Gaussian function will make the potential function at the convergence point is not zero, the repulsive potential multiplied by the correction term, so that the potential energy at the convergence point is zero, eliminating the deviation of the equilibrium point; On the basis of avoiding the static obstacle, the artificial potential function guidance to avoid the dynamic obstacle is studied. Secondly, based on the relationship between velocity and gravitational gradient, the negative feedback is designed so that the gradient of gravitational potential “adaptive ” changes. The adaptive artificial potential function guidance to avoid dynamic obstacles is studied. Finally, the numerical simulation is carried out by using the accurate mathematical model to verify the correctness and validity of the designed guidance law, and compared with the traditional artificial potential function guidance. The simulation results show that the convergence potential is improved by using the rectified potential function. The adaptive control of the artificial potential function is more reasonable than that of the artificial potential function. Compared with the artificial potential function, the total velocity pulse can be saved by 30% and the accuracy is improved by two orders of magnitude.