【摘要】 面向大规模航天器集群(数十至上百量级)的无碰撞构形重构控制需求,需实时求解复杂约束下的高维优化问题以生成安全控制指令,传统方法存在计算复杂度指数爆炸的问题.为此,本文提出了一种基于控制障碍函数的控制方法,在确保碰撞规避的同时显著降低在线计算复杂度.首先,基于控制障碍函数理论,将航天器集群构形重构安全控制表述为一个二次规划问题.然后,设计了该二次规划的两个关键部分:控制障碍函数和扩展K类函数.其中,通过为扩展K类函数设计自适应参数,提高了控制性能.进一步,针对多安全约束与控制输入约束相互冲突引发的优化不可行问题,设计了可行性约束以保证优化可行性.最后,建立12个航天器所组成的集群构形重构仿真场景.数值仿真结果表明,本文所提出的安全控制算法在计算效率方面表现优异,能够在亚秒级时间尺度内完成控制指令求解,同时有效减少为实现碰撞规避所需的额外燃料消耗,适合应用于大规模航天器集群的安全控制问题.更多还原

【Abstract】 For the collision-free formation reconfiguration control requirements of large-scale spacecraft swarms(tens to hundreds of orders of magnitude), it is necessary to solve the high-dimensional optimization problem under complex constraints in real time to generate safety control instructions, and the traditional methods have the problem of exponential explosion of computational complexity. Therefore, this paper proposes a control method based on the control barrier function, which significantly reduces the online computational complexity while ensuring collision avoidance. First, on the basis of control barrier function theory, a quadratic programming problem for collision avoidance is constructed. Then, two key parts of the quadratic programming are then designed: the control barrier function and the extended class K function. Among them, the control performance is improved by designing an adaptive parameter for the extended class K function. Furthermore, in view of the optimization infeasible problem caused by the conflict between multiple safety constraints and control input constraints, the feasibility constraint is designed to ensure the feasibility of optimization. Finally, a swarm formation reconfiguration simulation scenario consisting of 12 spacecraft is established. The numerical simulation results show that the proposed safety control algorithm performs well in terms of computational efficiency. It can solve the control command in a sub-second time scale, and effectively reduce the additional fuel consumption required to achieve collision avoidance. It is suitable for the safety control problem of large-scale spacecraft swarms.更多还原