نویسندگان

دانشکده فناوری‌های نوین، دانشگاه شهید بهشتی، تهران، ایران

چکیده

در این مقاله، یک کنترل بهینه غیرخطی برای مسئله ملاقات و اتصال مداری پیشنهاد شده است. فضاپیمایی که قصد ملاقات و اتصال با هدف را دارد توسط عملگرهای کنترلی به نوعی کنترل می­‌شود تا ملاقاتی امن و پایدار با رعایت ملزومات و قیود مسئله صورت پذیرد. با استفاده از معادلات غیرخطی دینامیک موقعیت و وضعیت فضاپیما به صورت نسبی برای مدار دایروی و بیضوی در حضور چرخ‌­های عکس‌­العملی و بدون چرخ به طراحی کنترلر بهینه پرداخته می‌شود. تابع هزینة کنترل بهینه به فرم تنظیم‌کنندة مربعی غیرخطی بیان می‌شود و قیود کنترلی به مسئله اعمال می­‌شود تا کنترل استخراج شده در محدودة مجاز مومنتوم خروجی چرخ­‌ها قرار گیرد. به دلیل اهمیت مقاومت به عدم قطعیت­‌ها در سیستم، کنترل بهینة غیرخطی برای این مسئله با استفاده از معادلة ریکاتی وابسته به حالت بر اساس روش تحلیلی بردارهای ویژه ماتریس همیلتونین استخراج می­‌شود. نتایج شبیه­‌سازی مبین مناسب بودن این روش کنترل غیرخطی برای فرایند ملاقات و اتصال مداری است.

کلیدواژه‌ها

عنوان مقاله [English]

Nonlinear Optimal Control of Space Docking and Rendezvous Problem

نویسندگان [English]

  • M. Navabi
  • M. R Akhlomadi

Faculty of New Technologies Engineering, Shahid Beheshti University, Tehran, Iran

چکیده [English]

In this paper a nonlinear optimal control is suggested. Spacecraft intended to rendezvous and dock with the target is controlled by actuators to have a safe and stable course while satisfying requirements. The Nonlinear optimal controller is designed using nonlinear equations of relative position and attitude of spacecraft for circular and elliptical orbits with and without reaction wheels. Cost function of the optimal control problem is expressed in the form of nonlinear quadratic regulator and control constraints are applied to the problem to gain controls in the allowable domain which is produced by the wheels. For the sake of robustness to the uncertainties as one of the most important element of the control design, nonlinear optimal control is derived using state dependent Riccatti equation based on analytical method of eigen vectors of Hamiltonian matrix. Simulation results show that this nonlinear control method achieves a good performance for rendezvous and docking problem.

کلیدواژه‌ها [English]

  • Orbital rendezvous and docking
  • Nonlinear optimal control
  • Nonlinear quadratic regulator
  • State dependent riccati equation
  • Eigenvectors of the hamiltonian matrix
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