技术领域Technical Field
本发明实施例涉及航天器控制技术，尤其涉及一种考虑输入饱和及运动约束的跟踪控制方法、装置及介质。The embodiments of the present invention relate to spacecraft control technology, and more particularly to a tracking control method, device and medium taking input saturation and motion constraints into consideration.
背景技术Background Art
随着空间航天器数量的增长，越来越多的航天器被送入到空间执行特定任务，然而一些失效甚至失控的非合作目标航天器会对其他在轨正常运行的航天器构成威胁，因此，需要服务航天器接近这类非合作目标航天器并对其进行在轨维护或者清除等空间任务。基于此，服务航天器快速接近非合作目标并针对非合作目标执行特定的跟踪指向任务将是完成对非合作目标航天器进行在轨维护或清除等空间任务的关键。As the number of spacecraft grows, more and more spacecraft are sent into space to perform specific missions. However, some non-cooperative target spacecraft that fail or even lose control will pose a threat to other spacecraft that are operating normally in orbit. Therefore, service spacecraft are required to approach such non-cooperative target spacecraft and perform on-orbit maintenance or removal tasks. Based on this, the key to completing on-orbit maintenance or removal tasks for non-cooperative target spacecraft is for service spacecraft to quickly approach non-cooperative targets and perform specific tracking and pointing tasks on non-cooperative targets.
对于快速接近非合作目标并针对非合作目标执行特定的跟踪指向任务来说，往往涉及到相对位姿耦合。常规方案中通常会采用利用势函数法处理运动约束下的位姿跟踪问题，即将运动禁止区域用排斥势函数来描述，而期望区域则将用吸引势函数来描述，最终将吸引势场与排斥势场叠加，求得虚拟合力作用于航天器，以期完成运动约束下的目标任务；然而势函数有着常见的缺点，一是其容易陷入局部极小值，二是在输入饱和的情况下可能会导致违背约束，因此，在实际执行机构受限的情况下，系统并不能得到理想大的控制力矩来满足约束需求。此外，在姿轨一体化建模的框架下，模型预测控制方法用于处理非线性程度高的位姿耦合动力学时，需面临复杂的线性化问题及较大的计算消耗，且在运动约束下，计算量将会十分庞大，从而产生大量的计算消耗，对星载计算机的计算能力提出很大的挑战。For fast approaching of non-cooperative targets and performing specific tracking and pointing tasks on non-cooperative targets, relative posture coupling is often involved. Conventional solutions usually use the potential function method to deal with the posture tracking problem under motion constraints, that is, the motion-prohibited area is described by a repulsive potential function, and the desired area is described by an attractive potential function. Finally, the attractive potential field and the repulsive potential field are superimposed to obtain a virtual resultant force acting on the spacecraft in order to complete the target task under motion constraints; however, the potential function has common disadvantages. First, it is easy to fall into a local minimum, and second, it may cause constraint violation when the input is saturated. Therefore, when the actual actuator is limited, the system cannot obtain an ideal large control torque to meet the constraint requirements. In addition, under the framework of attitude-orbit integrated modeling, when the model predictive control method is used to deal with posture coupling dynamics with a high degree of nonlinearity, it faces complex linearization problems and large computational consumption. Moreover, under motion constraints, the amount of calculation will be very large, resulting in a large amount of computational consumption, which poses a great challenge to the computing power of the onboard computer.
发明内容Summary of the invention
有鉴于此，本发明实施例期望提供一种考虑输入饱和及运动约束的跟踪控制方法、装置及介质；能够避免陷入局部极小值的情况，而且对执行机构的输出能力要求不高，能很好的完成在轨服务任务中的安全抵近问题，且服务航天器姿态机动角速度是燃料和误差约束下实时最优的；此外，还通过降维优化问题达到减少计算量的目的，降低了计算消耗。In view of this, the embodiments of the present invention hope to provide a tracking control method, device and medium that take into account input saturation and motion constraints; it can avoid falling into local minima, and has low requirements on the output capacity of the actuator, and can well complete the safe approach problem in the on-orbit service mission, and the angular velocity of the service spacecraft attitude maneuvering is real-time optimal under fuel and error constraints; in addition, it also achieves the purpose of reducing the amount of calculation by reducing the dimensionality of the optimization problem, thereby reducing the computing consumption.
本发明实施例的技术方案是这样实现的：The technical solution of the embodiment of the present invention is achieved as follows:
第一方面，本发明实施例提供了一种考虑输入饱和及运动约束的跟踪控制方法，所述方法包括：In a first aspect, an embodiment of the present invention provides a tracking control method considering input saturation and motion constraints, the method comprising:
针对服务航天器与目标航天器之间的期望距离构建期望平动；Constructing a desired translation for the desired distance between the servo spacecraft and the target spacecraft;
针对服务航天器与目标航天器之间的视线角指向约束构建所述服务航天器期望姿态；Constructing the desired attitude of the service spacecraft according to the line-of-sight angle pointing constraint between the service spacecraft and the target spacecraft;
针对在轨服务过程中的任务需求，构建平动及转动的约束条件；Construct translation and rotation constraints based on the mission requirements during on-orbit servicing;
基于所述期望平动以及平动的约束条件，以最小化燃料及跟踪误差为目标构建针对相对位置的模型预测控制MPC控制器；Based on the desired translation and the constraints of the translation, a model predictive control (MPC) controller for relative position is constructed with the goal of minimizing fuel and tracking errors;
基于所述服务航天器的期望姿态及转动约束条件，通过MPC角速度规划模块获取期望的角速度；Based on the desired attitude and rotation constraints of the service spacecraft, the desired angular velocity is obtained through the MPC angular velocity planning module;
根据所述期望的角速度设计自适应抗饱和滑模控制器，并通过抗饱和辅助系统处理控制力矩饱和问题，以获得用于指向跟踪的姿态控制器。An adaptive anti-saturation sliding mode controller is designed according to the desired angular velocity, and the control torque saturation problem is processed by an anti-saturation auxiliary system to obtain a posture controller for pointing tracking.
第二方面，本发明实施例提供了一种考虑输入饱和及运动约束的跟踪控制装置，所述装置包括：第一构建部分、第二构建部分、第三构建部分、第一设计部分、获取部分和第二设计部分，其中，In a second aspect, an embodiment of the present invention provides a tracking control device considering input saturation and motion constraints, the device comprising: a first construction part, a second construction part, a third construction part, a first design part, an acquisition part, and a second design part, wherein:
所述第一构建部分，经配置为针对服务航天器与目标航天器之间的期望距离构建期望平动；The first constructing portion is configured to construct a desired translation for a desired distance between the service spacecraft and the target spacecraft;
所述第二构建部分，经配置为针对服务航天器与目标航天器之间的视线角指向约束构建所述服务航天器期望姿态；The second constructing part is configured to construct the desired attitude of the service spacecraft according to the line of sight angle pointing constraint between the service spacecraft and the target spacecraft;
所述第三构建部分，经配置为针对在轨服务过程中的任务需求，构建平动及转动的约束条件；The third construction part is configured to construct translation and rotation constraints according to the mission requirements during the on-orbit service process;
所述第一设计部分，经配置为基于所述期望平动以及平动的约束条件，以最小化燃料及跟踪误差为目标构建针对相对位置的模型预测控制MPC控制器；The first design part is configured to construct a model predictive control MPC controller for relative position based on the desired translation and the constraints of the translation with the goal of minimizing fuel and tracking errors;
所述获取部分，经配置为基于所述服务航天器的期望姿态及转动约束条件，通过MPC角速度规划模块获取期望的角速度；The acquisition part is configured to acquire a desired angular velocity through an MPC angular velocity planning module based on a desired attitude and rotation constraints of the service spacecraft;
所述第二设计部分，经配置为根据所述期望的角速度设计自适应抗饱和滑模控制器，并通过抗饱和辅助系统处理控制力矩饱和问题，以获得用于指向跟踪的姿态控制器。The second design part is configured to design an adaptive anti-saturation sliding mode controller according to the desired angular velocity, and to process the control torque saturation problem through an anti-saturation auxiliary system to obtain a posture controller for pointing tracking.
第三方面，本发明实施例提供了一种计算设备，所述计算设备包括：通信接口，存储器和处理器；各个组件通过总线系统耦合在一起；其中，In a third aspect, an embodiment of the present invention provides a computing device, the computing device comprising: a communication interface, a memory and a processor; each component is coupled together through a bus system; wherein,
所述通信接口，用于在与其他外部网元之间进行收发信息过程中，信号的接收和发送；The communication interface is used to receive and send signals during the process of sending and receiving information between other external network elements;
所述存储器，用于存储能够在所述处理器上运行的计算机程序；The memory is used to store a computer program that can be run on the processor;
所述处理器，用于在运行所述计算机程序时，执行第一方面所述考虑输入饱和及运动约束的跟踪控制方法的步骤。The processor is used to execute the steps of the tracking control method considering input saturation and motion constraints described in the first aspect when running the computer program.
第四方面，本发明实施例提供了一种计算机存储介质，所述计算机存储介质存储有考虑输入饱和及运动约束的跟踪控制程序，所述考虑输入饱和及运动约束的跟踪控制程序被至少一个处理器执行时实现第一方面所述考虑输入饱和及运动约束的跟踪控制方法的步骤。In a fourth aspect, an embodiment of the present invention provides a computer storage medium, wherein the computer storage medium stores a tracking control program that takes input saturation and motion constraints into consideration, and when the tracking control program that takes input saturation and motion constraints into consideration is executed by at least one processor, the steps of the tracking control method that takes input saturation and motion constraints into consideration described in the first aspect are implemented.
本发明实施例提供了一种考虑输入饱和及运动约束的跟踪控制方法、装置及介质；首先设计用于相对位置接近的模型预测控制器，其不仅可以完成约束下的相对位置控制，还可以为本文提出的期望姿态设计方法提供预测所得的状态序列；接着设计了用于姿态指向跟踪的双层控制器，即用于最优角速度规划的模型预测控制部分以及用于角速度跟踪的自适应滑模控制器，相比于同时离散和线性化姿态动力学与运动学作为优化模型，通过获得最优期望角速度的同时，还能降低优化问题的维度以进一步提升计算效率；此外，为了减少前期误差较大时带来的较大的力矩需求，引入了抗饱和系统。由于期望角速度已经是最优的，加之辅助系统的作用，控制器对执行机构的输出能力要求较低。相比于势函数法，不仅能保证服务航天器以次优速度完成接近与指向跟踪任务，还能保障控制输入满足工程应用的要求。The embodiment of the present invention provides a tracking control method, device and medium considering input saturation and motion constraints; firstly, a model predictive controller for relative position approach is designed, which can not only complete the relative position control under constraints, but also provide the predicted state sequence for the desired attitude design method proposed in this paper; then, a two-layer controller for attitude pointing tracking is designed, namely, a model predictive control part for optimal angular velocity planning and an adaptive sliding mode controller for angular velocity tracking. Compared with the simultaneous discretization and linearization of attitude dynamics and kinematics as optimization models, by obtaining the optimal expected angular velocity, the dimension of the optimization problem can be reduced to further improve the computational efficiency; in addition, in order to reduce the large torque demand caused by the large initial error, an anti-saturation system is introduced. Since the expected angular velocity is already optimal, coupled with the role of the auxiliary system, the controller has lower requirements on the output capacity of the actuator. Compared with the potential function method, it can not only ensure that the service spacecraft completes the approach and pointing tracking tasks at a suboptimal speed, but also ensure that the control input meets the requirements of engineering applications.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明实施例提供的一种考虑输入饱和及运动约束的跟踪控制方法流程示意图；FIG1 is a schematic flow chart of a tracking control method considering input saturation and motion constraints provided by an embodiment of the present invention;
图2为本发明实施例提供的服务航天器与目标航天器相对位置的示意图；FIG2 is a schematic diagram of the relative positions of a service spacecraft and a target spacecraft provided by an embodiment of the present invention;
图3为本发明实施例提供的指向约束示意图；FIG3 is a schematic diagram of a pointing constraint provided by an embodiment of the present invention;
图4为本发明实施例提供的考虑输入饱和及运动约束的跟踪控制方法的具体实施流程示意图；FIG4 is a schematic diagram of a specific implementation flow of a tracking control method considering input saturation and motion constraints provided by an embodiment of the present invention;
图5(a)为仿真实验的相对位置跟踪误差示意图；FIG5( a ) is a schematic diagram of relative position tracking error in a simulation experiment;
图5(b)为仿真实验的相对速度跟踪误差示意图；Figure 5(b) is a schematic diagram of the relative velocity tracking error of the simulation experiment;
图6(a)为仿真实验的相对位置转移轨迹示意图；FIG6( a ) is a schematic diagram of the relative position transfer trajectory of the simulation experiment;
图6(b)为仿真实验的光轴姿态轨迹示意图；Figure 6(b) is a schematic diagram of the optical axis posture trajectory of the simulation experiment;
图7为仿真实验的控制力矩示意图；FIG7 is a schematic diagram of the control torque of the simulation experiment;
图8为本发明实施例提供的一种考虑输入饱和及运动约束的跟踪控制装置组成示意图；FIG8 is a schematic diagram of a tracking control device considering input saturation and motion constraints provided by an embodiment of the present invention;
图9为本发明实施例提供的一种计算设备的具体硬件结构示意图。FIG. 9 is a schematic diagram of a specific hardware structure of a computing device provided in an embodiment of the present invention.
具体实施方式DETAILED DESCRIPTION
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述。The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.
参见图1，其示出了本发明实施例提供的一种考虑输入饱和及运动约束的跟踪控制方法，该方法可以包括：Referring to FIG. 1 , it shows a tracking control method considering input saturation and motion constraints provided by an embodiment of the present invention. The method may include:
S101：针对服务航天器与目标航天器之间的期望距离构建期望平动；S101: constructing an expected translation for an expected distance between the service spacecraft and the target spacecraft;
S102：针对服务航天器与目标航天器之间的视线角指向约束构建所述服务航天器期望姿态；S102: constructing the desired attitude of the service spacecraft according to the line of sight angle pointing constraint between the service spacecraft and the target spacecraft;
S103：针对在轨服务过程中的任务需求，构建平动及转动的约束条件；S103: Construct translation and rotation constraints based on the mission requirements during on-orbit servicing;
S104：基于所述期望平动以及平动的约束条件，以最小化燃料及跟踪误差为目标构建针对相对位置的模型预测控制(MPC，Model Predictive Control)控制器；S104: Based on the desired translation and the constraints of the translation, a model predictive control (MPC) controller for relative position is constructed with the goal of minimizing fuel and tracking error;
S105：基于所述服务航天器的期望姿态及转动约束条件，通过MPC角速度规划模块获取期望的角速度；S105: Based on the desired attitude and rotation constraint of the service spacecraft, obtaining the desired angular velocity through the MPC angular velocity planning module;
S106：根据所述期望的角速度设计自适应抗饱和滑模控制器，并通过抗饱和辅助系统处理控制力矩饱和问题，以获得用于指向跟踪的姿态控制器。S106: Designing an adaptive anti-saturation sliding mode controller according to the desired angular velocity, and processing the control torque saturation problem through an anti-saturation auxiliary system to obtain a posture controller for pointing tracking.
针对图1所示的技术方案，首先设计用于相对位置接近的模型预测控制器，其不仅可以完成约束下的相对位置控制，还可以为本文提出的期望姿态设计方法提供预测所得的状态序列；接着设计了用于姿态指向跟踪的双层控制器，即用于最优角速度规划的模型预测控制部分以及用于角速度跟踪的自适应滑模控制器，相比于同时离散和线性化姿态动力学与运动学作为优化模型，通过获得最优期望角速度的同时，还能降低优化问题的维度以进一步提升计算效率；此外，为了减少前期误差较大时带来的较大的力矩需求，引入了抗饱和系统。由于期望角速度已经是最优的，加之辅助系统的作用，控制器对执行机构的输出能力要求较低。相比于势函数法，不仅能保证服务航天器以次优速度完成接近与指向跟踪任务，还能保障控制输入满足工程应用的要求。For the technical solution shown in Figure 1, a model predictive controller for relative position approach is first designed, which can not only complete the relative position control under constraints, but also provide the predicted state sequence for the desired attitude design method proposed in this paper; then a two-layer controller for attitude pointing tracking is designed, namely the model predictive control part for optimal angular velocity planning and the adaptive sliding mode controller for angular velocity tracking. Compared with the simultaneous discretization and linearization of attitude dynamics and kinematics as optimization models, by obtaining the optimal expected angular velocity, the dimension of the optimization problem can be reduced to further improve the computational efficiency; in addition, in order to reduce the large torque demand caused by large initial errors, an anti-saturation system is introduced. Since the expected angular velocity is already optimal, coupled with the role of the auxiliary system, the controller has lower requirements on the output capacity of the actuator. Compared with the potential function method, it can not only ensure that the service spacecraft completes the approach and pointing tracking tasks at a suboptimal speed, but also ensure that the control input meets the requirements of engineering applications.
对于图1所示的技术方案，在一些可能的实现方式中，所述针对服务航天器与目标航天器之间的期望距离构建期望平动，包括：For the technical solution shown in FIG. 1 , in some possible implementations, constructing the expected translation according to the expected distance between the service spacecraft and the target spacecraft includes:
设定所述服务航天器在目标航天器本体坐标系下的期望运动参数如下所示：The expected motion parameters of the service spacecraft in the target spacecraft body coordinate system are set as follows:
其中，ρd表示所述服务航天器的期望位置，t为左上标表示目标航天器本体坐标系；ld表示所述服务航天器与所述目标航天器之间的期望距离；Wherein, ρd represents the expected position of the service spacecraft, t is the upper left subscript representing the target spacecraft body coordinate system; ld represents the expected distance between the service spacecraft and the target spacecraft;
将所述服务航天器在目标航天器本体坐标系下的期望运动参数转移至LVLH坐标系，获得所述服务航天器在LVLH坐标系下的期望运动参数如下所示：The expected motion parameters of the service spacecraft in the target spacecraft body coordinate system are transferred to the LVLH coordinate system, and the expected motion parameters of the service spacecraft in the LVLH coordinate system are obtained as follows:
所述服务航天器在LVLH坐标系下的期望位置为：The expected position of the service spacecraft in the LVLH coordinate system is:
所述服务航天器在LVLH坐标系下的期望速度为：The expected speed of the service spacecraft in the LVLH coordinate system is:
所述服务航天器在LVLH坐标系下的期望加速度为：The expected acceleration of the service spacecraft in the LVLH coordinate system is:
其中，表示由目标航天器本体坐标系Oxtytzt到地心惯性坐标系OxIyIzI的转移矩阵；表示由地心惯性坐标系OxIyIzI(以下可简称为惯性系)到LVLH坐标系的旋转矩阵；ωtL表示所述目标航天器相对LVLH坐标系的角速度，ωtL＝ωtI-ωLI，ωtI表示所述目标航天器相对于地心惯性坐标系OxIyIzI的角速度，ωLI表示服务航天器轨道角速度；I为左上标表示地心惯性坐标系OxIyIzI；L为左上标表示LVLH坐标系；in, represents the transfer matrix from the target spacecraft body coordinate system Oxt yt zt to the geocentric inertial coordinate system OxI yI zI ; represents the rotation matrix from the geocentric inertial coordinate system OxI yI zI (hereinafter referred to as the inertial system) to the LVLH coordinate system; ωtL represents the angular velocity of the target spacecraft relative to the LVLH coordinate system, ωtL =ωtI -ωLI , ωtI represents the angular velocity of the target spacecraft relative to the geocentric inertial coordinate system OxI yI zI , ωLI represents the orbital angular velocity of the service spacecraft; I is the superscript left and represents the geocentric inertial coordinate system OxI yI zI ; L is the superscript left and represents the LVLH coordinate system;
相应地，所述针对在轨服务过程中的任务需求，构建平动的约束条件，包括：Accordingly, the constraints for translation are constructed according to the mission requirements during the on-orbit service process, including:
针对所述期望相对位置模型分别设计速度约束条件和控制输入饱和约束条件；其中，所述速度约束条件为：表示LVLH坐标系下的相对线速度最大值；所述控制输入饱和约束条件为：U表示控制输入变量。Speed constraints and control input saturation constraints are designed for the desired relative position model; wherein the speed constraints are: represents the maximum relative linear velocity in the LVLH coordinate system; the control input saturation constraint condition is: U represents the control input variable.
对于上述实现方式，需要说明的是，如图2所示，设定目标航天器在近圆轨道上，服务航天器(Service spacecraft)与目标航天器(Target spacecraft)之间的相对运动通过C-W方程描述为：For the above implementation, it should be noted that, as shown in FIG2 , the target spacecraft is set in a near-circular orbit, and the relative motion between the service spacecraft and the target spacecraft is described by the C-W equation:
其中，F＝[Fx,Fy,Fz]T表示服务航天器的控制加速度；XL＝[x,y,z]T表示LVLH系下的服务航天器与空间目标的相对位置。表示空间目标的轨道角速度；μ＝3.98×1014m3/s2为地球引力常数；rt＝||rt||表示空间目标矢径的范数。Wherein, F = [Fx ,Fy ,Fz ]T represents the control acceleration of the service spacecraft;XL = [x, y, z]T represents the relative position of the service spacecraft and the space target in the LVLH system. represents the orbital angular velocity of the space target; μ＝3.98×1014 m3 /s2 is the earth's gravitational constant; rt ＝||rt || represents the norm of the space target's radius vector.
将上述C-W方程描述改写为状态方程为：其中，为状态向量，为控制输入，n为空间目标的轨道角速度。The above CW equation description is rewritten as the state equation: in, is the state vector, is the control input, n is the orbital angular velocity of the space target.
将上述状态方程以ΔT为采样时间离散化，得到离散的状态方程为X(k+1)＝AdX(k)+BdF(k)，其中，X(k)和F(k)表示离散后第k步的状态量和控制输入，和的表达式分别为Ad＝eAΔT，Discretize the above state equation with ΔT as the sampling time, and get the discrete state equation X(k+1)=Ad X(k)+Bd F(k), where X(k) and F(k) represent the state quantity and control input of the kth step after discretization. and The expressions are Ad = eAΔT ,
对于服务航天器的期望相对位置模型来说，在LVLH坐标系下对ρd求导可得将其在LVLH坐标系下展开就能够得到上述在LVLH坐标系下的期望速度；将期望速度继续求导可得进而能够得到将其在LVLH坐标系下展开就能够得到上述在LVLH坐标系下的期望加速度。For the expected relative position model of the service spacecraft, Taking the derivative of ρd in the LVLH coordinate system, we get Expanding it in the LVLH coordinate system can give the expected speed in the LVLH coordinate system mentioned above; further derivation of the expected speed gives And then you can get By expanding it in the LVLH coordinate system, the expected acceleration in the LVLH coordinate system can be obtained.
针对上述实现方式中平动的约束条件来说，可以根据任务需求，或者当前所处的应用场景进行构建，首先，对于超近距离操作，如果在这个过程中发生了一些紧急情况，必须在很短的时间内改变规定的会合轨迹，应该考虑速度约束以提高容错率，确保及时避碰。因此，速度约束可以表示成：Regarding the constraints of translation in the above implementation, they can be constructed according to the mission requirements or the current application scenario. First, for ultra-close distance operations, if some emergency occurs during the process, the prescribed rendezvous trajectory must be changed in a very short time. Speed constraints should be considered to improve the fault tolerance rate and ensure timely collision avoidance. Therefore, the speed constraint can be expressed as:
其中，vmax为LVLH坐标系下的相对线速度最大值。Wherein, vmax is the maximum relative linear velocity in the LVLH coordinate system.
其次，在实际的航天器系统中，如果执行机构的能力不能满足控制律所需的理想输入，这将导致执行机构的输入饱和问题。针对上述状态方程中的控制输入所采用的控制输入饱和可用线性不等式约束描述为Secondly, in actual spacecraft systems, if the capability of the actuator cannot meet the ideal input required by the control law, this will lead to the input saturation problem of the actuator. The control input saturation adopted for the control input in the above state equation can be described by the linear inequality constraint:
基于上述实现方式及其说明内容，在一些示例中，所述基于所述期望平动以及平动的约束条件，以最小化燃料及跟踪误差为目标构建针对相对位置的模型预测控制MPC控制器，包括：Based on the above implementation and its description, in some examples, the model predictive control MPC controller for relative position is constructed based on the desired translation and the constraints of the translation with the goal of minimizing fuel and tracking errors, including:
设定预测时域为Np，控制时域为Nc，将所述服务航天器的离散状态方程中的状态变量和控制输入进行序列化，获得状态变量序列Xs(k)和控制输入序列Fs(k)如下所示：Assuming the prediction time domain as Np and the control time domain as Nc , the state variables and control inputs in the discrete state equation of the service spacecraft are serialized to obtain the state variable sequence Xs (k) and the control input sequence Fs (k) as shown below:
根据所述状态变量序列Xs(k)和控制输入序列Fs(k)，将所述服务航天器的离散状态方程改写为Xs(k)＝AsX(k)+BsFs(k)；其中，According to the state variable sequenceXs (k) and the control input sequenceFs (k), the discrete state equation of the service spacecraft is rewritten asXs (k)=AsX (k)+BsFs( k); wherein,
以最小化相对位置跟踪误差和控制输入为目标，设计指标函数为：With the goal of minimizing the relative position tracking error and control input, the design index function is:
其中，QIi和RIi分别表示正定的状态和控制权重矩阵，QIi中最后一个元素为终端权值矩阵PI,PI通过求解离散时间黎卡提(Riccati)方程得到，ρd表示期望的状态序列；Where, QIi and RIi represent the positive definite state and control weight matrices respectively, the last element in QIi is the terminal weight matrix PI , PI is obtained by solving the discrete time Riccati equation, and ρd represents the desired state sequence;
将所述相对位置约束条件转化表达为控制输入上的约束条件，结合所述最终的指标函数，获得针对相对位置的MPC控制器如下所示：The relative position constraint is transformed into a constraint on the control input, and combined with the final indicator function, the MPC controller for the relative position is obtained as follows:
其中，和分别是以vmax和D为元素的增广矩阵。in, and are augmented matrices with vmax and D as elements respectively.
对于上述示例，需要说明的是，上述示例主要目的是利用MPC实现抵近维修故障目标航天器时，服务航天器对翻滚目标航天器的安全接近问题。在考虑推力约束和速度约束下，提出了燃料最优路径跟踪MPC问题，即上述MPC控制器，该问题可以用目前常规的二次规划(QP，Quadratic Programming)算法来求解。For the above example, it should be noted that the main purpose of the above example is to use MPC to achieve the problem of safe approach of the service spacecraft to the tumbling target spacecraft when approaching and repairing the faulty target spacecraft. Under the consideration of thrust constraints and speed constraints, the fuel optimal path tracking MPC problem, namely the above MPC controller, is proposed. This problem can be solved by the current conventional quadratic programming (QP, Quadratic Programming) algorithm.
对于图1所示的技术方案，在一些可能的实现方式中，所述针对服务航天器与目标航天器之间的视线角指向约束构建所述服务航天器期望姿态，包括：For the technical solution shown in FIG. 1 , in some possible implementations, constructing the desired attitude of the service spacecraft according to the line of sight angle pointing constraint between the service spacecraft and the target spacecraft includes:
将所述服务航天器与空间目标的相对位置由Hill坐标系转换至地心惯性坐标系其中，表示Hill坐标系到地心惯性坐标系的坐标转换矩阵；The relative position of the service spacecraft and the space target Convert from Hill coordinate system to geocentric inertial coordinate system in, Represents the coordinate transformation matrix from the Hill coordinate system to the geocentric inertial coordinate system;
将所述服务航天器的光轴方向矢量表达在地心惯性坐标系为：其中，是航天器本体坐标系到地心惯性坐标系的坐标转换矩阵；The optical axis direction vector of the service spacecraft is expressed in the geocentric inertial coordinate system as: in, is the coordinate transformation matrix from the spacecraft body coordinate system to the geocentric inertial coordinate system;
定义姿态机动过程中的欧拉轴为其中，表示视线角，当矢量与光轴方向矢量yI重合时，The Euler axes during attitude maneuvers are defined as in, Represents the sight angle, when the vector When it coincides with the optical axis direction vector yI ,
根据欧拉轴角定义，由四元数定义获得航天器本体姿态与达到期望指向时的姿态偏差为：According to the Euler axis-angle definition, the deviation between the spacecraft body attitude and the attitude when the desired direction is reached is obtained by the quaternion definition:
基于所述姿态偏差以及误差四元数的定义，获得期望姿态为：qd＝[qd0,-qdv]T；Based on the definition of the posture deviation and the error quaternion, the desired posture is obtained as: qd = [qd0 , -qdv ]T ;
以避免明亮天体出现在服务航天器的敏感器视野，设定所述服务航天器的姿态约束条件的数学描述为其中，yI表示所述服务航天器的光轴方向矢量，SI表示明亮天体方向矢量，表示光轴方向矢量与明亮天体方向之间的夹角；In order to avoid bright celestial bodies appearing in the sensor field of view of the service spacecraft, the mathematical description of the attitude constraint condition of the service spacecraft is set as follows: Wherein, yI represents the optical axis direction vector of the service spacecraft, SI represents the bright celestial body direction vector, It represents the angle between the optical axis direction vector and the bright celestial body direction;
将所述服务航天器的光轴方向矢量进行坐标转换获得下式：The optical axis direction vector of the service spacecraft is transformed into the following formula:
其中，(·)×表示求矢量的反对称矩阵Among them, (·)× represents the antisymmetric matrix of the vector
相应地，针对在轨服务过程中的任务需求，构建转动的约束条件，包括：Accordingly, according to the mission requirements during the on-orbit service process, the rotation constraints are constructed, including:
基于所述姿态约束条件的数学描述以及光轴方向矢量的坐标转换获得所述服务航天器的姿态约束条件为：Based on the mathematical description of the attitude constraint condition and the coordinate transformation of the optical axis direction vector, the attitude constraint condition of the service spacecraft is obtained as follows:
qTkcq≤0qT kc q≤0
其中，yb表示服务航天器本体系y轴。in, yb represents the y-axis of the service spacecraft system.
对于上述实现方式，单位四元数可以表示为其中，nx、ny和nz分别表示欧拉轴的三个垂直分量，θ表示围绕该轴的旋转角度。误差四元数的定义为For the above implementation, the unit quaternion can be expressed as Wherenx ,ny , andnz represent the three perpendicular components of the Euler axis, and θ represents the rotation angle around the axis. The error quaternion is defined as
设定目标航天器的平移运动和姿态运动的状态可以通过服务航天器测量得到，并且目标处于无控状态。所以，在轨自由运动的故障目标航天器的姿态动力学模型为其中，为目标航天器姿态四元数；为目标航天器的转动惯量；为在目标航天器体坐标系下目标航天器相对惯性坐标系的角速度。The translational motion and attitude motion states of the target spacecraft can be measured by the service spacecraft, and the target is in an uncontrolled state. Therefore, the attitude dynamics model of the faulty target spacecraft moving freely on orbit is: in, is the target spacecraft attitude quaternion; is the moment of inertia of the target spacecraft; is the angular velocity of the target spacecraft relative to the inertial coordinate system in the target spacecraft body coordinate system.
相应地，服务航天器的姿态动力学模型为其中，为服务航天器姿态四元数；为表达在服务航天器本体坐标系Oxsyszs下的服务航天器相对惯性坐标系的角速度；为服务航天器的转动惯量；为服务航天器的控制力矩。Accordingly, the attitude dynamics model of the service spacecraft is: in, To serve the spacecraft attitude quaternion; is the angular velocity of the service spacecraft relative to the inertial coordinate system expressed in the service spacecraft body coordinate system Oxs ys zs ; To serve the spacecraft's moment of inertia; Control torque for servicing spacecraft.
基于上述姿态动力学模型，本发明实施例的姿态控制目标是使观测装置指向目标航天器，因此与服务航天器和目标航天器的相对姿态无关，也就是说，本发明实施例的期望姿态可以由视线角指向约束转化而来，期望姿态设计无需设计期望角速度甚至期望角加速度。Based on the above-mentioned attitude dynamics model, the attitude control goal of the embodiment of the present invention is to make the observation device point to the target spacecraft, and it is therefore independent of the relative attitude of the service spacecraft and the target spacecraft. That is to say, the expected attitude of the embodiment of the present invention can be converted from the line of sight angle pointing constraint, and the expected attitude design does not require the design of the expected angular velocity or even the expected angular acceleration.
另外，对于约束条件来说，要避免在机动过程中明亮天体出现在服务航天器的敏感器视野中，这对于保护敏感元件至关重要。如图3所示，将考虑附加的姿态约束禁区以避免敏感器的损坏，也就是说，约束目标是光轴方向矢量yI与明亮天体方向SI之间的夹角大于某一阈值，此时视为敏感器处于安全工作范围。需要说明的是，上述姿态约束条件为标准二次型的形式并且其也为凸二次型约束。In addition, for the constraint conditions, it is necessary to avoid bright objects appearing in the field of view of the service spacecraft's sensors during the maneuver, which is crucial for protecting sensitive components. As shown in Figure 3, additional attitude constraint forbidden areas will be considered to avoid damage to the sensors, that is, the constraint target is the angle between the optical axis direction vector yI and the bright object direction SI When it is greater than a certain threshold, the sensor is considered to be in a safe working range. It should be noted that the above attitude constraint condition is in the form of a standard quadratic form and is also a convex quadratic form constraint.
对于上述实现方式，在一些示例中，所述基于所述服务航天器的期望姿态及转动约束条件，通过MPC角速度规划模块获取期望的角速度，包括：For the above implementation, in some examples, obtaining the expected angular velocity through the MPC angular velocity planning module based on the expected attitude and rotation constraint of the service spacecraft includes:
利用前向欧拉法将四元数描述的姿态运动学方程进行采样离散化，得到关于姿态的原始离散状态方程为：The forward Euler method is used to sample and discretize the attitude kinematic equation described by the quaternion, and the original discrete state equation about the attitude is obtained as follows:
q(k+1)＝Atq(k)+BtU(k+1)q(k+1)＝At q(k)+Bt U(k+1)
其中，At＝E4，Bt＝TsE4，Ts表示采样间隔，U(k+1)＝B(q(k))ω(k+1)表示关于姿态的离散状态方程的输入，包含驱动姿态运动的角速度；Wherein, At =E4 , Bt =Ts E4 , Ts represents the sampling interval, U(k+1)=B(q(k))ω(k+1) represents the input of the discrete state equation about the attitude, including the angular velocity driving the attitude motion;
设定预测时域与控制时域相等，将所述关于姿态的原始离散状态方程中的预测的状态序列qs与控制输入序列Us通过如下表示：Assuming the prediction time domain is equal to the control time domain, the predicted state sequenceqs and the control input sequenceUs in the original discrete state equation about the posture are expressed as follows:
qs(k)＝(qT(k+1|k),qT(k+2|k),......,qT(k+Np|k))Tqs (k)＝(qT (k+1|k),qT (k+2|k),...,qT (k+Np |k))T
Us(k)＝(UT(k+1|k),UT(k+1|k),......,UT(k+Np|k))TUs (k)＝(UT (k+1|k), UT (k+1|k),..., UT (k+Np |k))T
基于预测的状态序列qs与控制输入序列Us，将关于姿态的原始离散状态方程整理为qs(k)＝Asq(k)+BsUs(k)，其中，Based on the predicted state sequenceqs and the control input sequenceUs , the originaldiscrete state equation about the posture is rearranged intoqs (k)=Asq (k)+BsUs (k), where:
构建优化控制器为：Construct the optimized controller as:
其中，qe表示误差四元数，qed＝[1,0,0,0]T，QIIIi、RIIIi表示正定的权值矩阵；Wherein, qe represents the error quaternion, qed = [1, 0, 0, 0]T , QIIIi , RIIIi represent positive definite weight matrices;
根据构建后的优化控制器以及关于姿态的整理后的离散状态方程，引入辅助变量Av＝PdAsq(k)-qed(k)，获得最终的MPC控制器为：According to the constructed optimization controller and the discrete state equations about the posture after arrangement, the auxiliary variable Av =PdAs q(k)-qed (k) is introduced to obtain the final MPC controller:
s.t.q(t+k|t)＝Atq(k|t)+BtU(t+k|t),k＝1,...,Npc-1stq(t+k|t)＝At q(k|t)+Bt U(t+k|t),k＝1,...,Npc -1
qT(t+k|t)Kiq(t+k|t)≤λi,i＝1,...,nqT (t+k|t)Ki q(t+k|t)≤λi ,i＝1,...,n
其中，表示关于姿态的原始离散状态方程的输入幅值，Pd表示预测时域的期望姿态信息，且根据预测的相对位置信息解算；in, represents the input amplitude of the original discrete state equation about the posture,Pd represents the expected posture information in the prediction time domain, and is solved according to the predicted relative position information;
将所述最终的MPC控制器进行优化后所得到的第一个控制输入作用于关于姿态的整理后的离散状态方程，获得在误差与燃料最小的目标函数下实时最优的姿态机动角速度The first control input obtained after optimizing the final MPC controller is applied to the discrete state equation after the attitude is sorted out to obtain the real-time optimal attitude maneuvering angular velocity under the objective function of minimizing error and fuel.
需要说明的是，上述示例通过线性化四元数姿态运动学并不会导致姿态违背禁忌约束，相反，由于线性化带来的误差会使得规划所得的机动角速度更加保守，因此指向跟踪过程中的敏感器会进一步远离姿态禁区。It should be noted that the linearized quaternion attitude kinematics in the above example does not cause the attitude to violate the taboo constraint. On the contrary, the error caused by linearization will make the planned maneuvering angular velocity more conservative, so the sensor in the pointing tracking process will move further away from the attitude forbidden zone.
对于上述示例，优选地，所述根据所述期望的角速度设计自适应抗饱和滑模控制器，并通过抗饱和辅助系统处理控制力矩饱和问题，以获得用于指向跟踪的姿态控制器，包括：For the above example, preferably, the designing of an adaptive anti-saturation sliding mode controller according to the desired angular velocity and processing the control torque saturation problem by an anti-saturation auxiliary system to obtain a posture controller for pointing tracking includes:
基于执行机构输出饱和，将服务航天器的姿态动力学方程改写为：Based on the output saturation of the actuator, the attitude dynamics equation of the service spacecraft is rewritten as:
其中，ud表示系统的综合不确定性，in, ud represents the comprehensive uncertainty of the system,
引入角速度跟踪误差的积分项，设计非奇异积分终端滑模面为：The integral term of angular velocity tracking error is introduced, and the non-singular integral terminal sliding surface is designed as:
其中，ωe＝ωs-ωd表示误差角速度，sq＞sp＞0是待设计的正数，是正定对角矩阵；Among them, ωe =ωs -ωd represents the error angular velocity, sq >sp >0 is a positive number to be designed, is a positive definite diagonal matrix;
基于避免执行机构饱和，设计抗饱和辅助系统为：Based on avoiding actuator saturation, the anti-saturation auxiliary system is designed as follows:
其中，Δu＝sat(uc)-uc是辅助系统的输入，uc是待设计的控制律；η是辅助系统的状态，kη,kη2,kη3,γη,εη是需要设计的辅助系统的参数且均是正常值；Wherein, Δu=sat(uc )-uc is the input of the auxiliary system,uc is the control law to be designed; η is the state of the auxiliary system,kη ,kη2 ,kη3 ,γη ,εη are the parameters of the auxiliary system to be designed and are all normal values;
基于外部干扰的有界性，将综合不确定性δ表示为：Based on the boundedness of external disturbance, the comprehensive uncertainty δ is expressed as:
||δ||≤b0+b1||ωs||+b2||ωs||2≤bL||δ||≤b0 +b1 ||ωs ||+b2 ||ωs ||2 ≤bL
其中，b0＝(h0+h3)，b1＝h1，b2＝h2，b＝max{b0,b1,b2,b3}，L＝1+||ωs||+||ωs||2，hi(i＝0,...,3)表示不确定性参数上界；Wherein, b0 ＝(h0 +h3 ), b1 ＝h1 , b2 ＝h2 , b＝max{b0 ,b1 ,b2 ,b3 }, L＝1+||ωs ||+||ωs ||2 ,hi (i＝0,...,3) represents the upper bound of the uncertainty parameter;
设计自适应更新律为：其中，是b的估计值，ξ1和ξ2为正常值；且为正常值Design the adaptive update law as: in, is the estimated value of b, ξ1 and ξ2 are normal values; and Normal value
基于服务航天器的姿态动力学方程、非奇异积分终端滑模面、抗饱和辅助系统以及系统的综合不确定性，设计用于指向跟踪的姿态控制器如下所示：Based on the attitude dynamics equation of the service spacecraft, the non-singular integral terminal sliding surface, the anti-saturation auxiliary system and the comprehensive uncertainty of the system, the attitude controller designed for pointing tracking is as follows:
其中，为期望角加速度，k1、k2和α为正常数。in, is the expected angular acceleration, k1 , k2 and α are positive constants.
基于上述示例，需要说明的是，首先，非奇异积分终端滑模面是连续且非奇异的；Based on the above examples, it should be noted that, first, the non-singular integral terminal sliding surface is continuous and non-singular;
其次，对于抗饱和辅助系统来说，传统的抗饱和辅助系统设计时一般仅包括-kηη+kη2Δu两项，本发明实施例引入目的在于证明辅助系统状态量η有限时间收敛到零；引入(η/||η||2)(|sTBΔu|+kη2ΔuTΔu/2)是为了与方便控制器稳定性证明时相关项的抵消；由于添加了引进项，为避免η过小时引发奇异，将辅助系统设计为分段形式。Secondly, for the anti-saturation auxiliary system, the traditional anti-saturation auxiliary system generally only includes two items -kη η+kη2 Δu when designed. The embodiment of the present invention introduces The purpose is to prove that the state quantity η of the auxiliary system converges to zero in a finite time; the introduction of (η/||η||2 )(|sT BΔu|+kη2 ΔuT Δu/2) is to facilitate the cancellation of related terms when proving the stability of the controller; due to the addition of the introduced terms, in order to avoid singularity when η is too small, the auxiliary system is designed in a segmented form.
最后，对于综合不确定性δ来说，作用于航天器的外部干扰动是有界的，可视为干扰项的模型不确定性也是有界的，并可以写成如下形式：Finally, for the combined uncertainty δ, the external disturbance dynamics acting on the spacecraft is bounded and can be considered as the model uncertainty of the interference term is also bounded and can be written as follows:
其中，hi(i＝0,...,3)是未知的正常数。Here, hi (i＝0,...,3) is an unknown positive constant.
结合前述技术方案，在一些可能的实现方式中，所述方法还包括：In combination with the foregoing technical solution, in some possible implementations, the method further includes:
将针对相对位置的MPC控制器输出的控制量通过C-W方程以对服务航天器的相对位置进行控制；The control quantity output by the MPC controller for the relative position is passed through the C-W equation to control the relative position of the service spacecraft;
将用于指向跟踪姿态控制器输出的控制量以对姿态动力学方程进行控制。The control quantity that will be used to point to the tracking attitude controller output is used to control the attitude dynamics equations.
基于前述技术方案及其实现方式和示例，本发明实施例所提出的考虑输入饱和及运动约束的跟踪控制方法在具体实施过程中如图4所示，通过期望的相对位置涉及的像鬼位置导引律以及C-W方程利用MPC控制器控制服务航天器与目标航天器的相对位置；根据期望姿态以及姿态运动学通过角速度规划的MPC控制器输出期望的角速度后，在通过自适应滑模控制器和抗饱和辅助系统对指向跟踪的姿态进行控制，从而实现了接近与指向跟踪控制方案。Based on the aforementioned technical solutions and their implementation methods and examples, the tracking control method considering input saturation and motion constraints proposed in the embodiment of the present invention is shown in Figure 4 during the specific implementation process. The relative position of the service spacecraft and the target spacecraft is controlled by the MPC controller through the ghost position guidance law and the C-W equation involved in the desired relative position; after the desired angular velocity is output by the MPC controller of angular velocity planning according to the desired attitude and attitude kinematics, the attitude of pointing tracking is controlled by an adaptive sliding mode controller and an anti-saturation auxiliary system, thereby realizing the approach and pointing tracking control scheme.
为了阐述前述技术方案的技术效果，本发明实施例通过具体仿真实验进行阐述，对于接近任务来说，相对位置与相对速度的跟踪误差分别如图5(a)、(b)所示，可以看出，两者都在30s左右收敛，且相对速度未超过限定的幅值。对于光轴姿态轨迹，如图6(a)和图6(b)所示的相对位置转移轨迹以及光轴姿态轨迹，可以看出光轴指向前期与期望指向有较大的角度误差，中段期望轨迹直接穿越锥形的强光照射区，实际指向则绕行姿态禁区，而后重新跟踪上期望指向。对于图7所示的控制力矩来说，由于初始误差较大，出现饱和；在200s左右由于需要避开姿态禁区，控制力矩出现波动，其余时刻一直满足幅值约束。In order to illustrate the technical effect of the above-mentioned technical solution, the embodiment of the present invention is illustrated by a specific simulation experiment. For the approach task, the tracking errors of the relative position and the relative speed are shown in Figures 5(a) and (b) respectively. It can be seen that both converge in about 30 seconds, and the relative speed does not exceed the limited amplitude. For the optical axis attitude trajectory, as shown in Figures 6(a) and 6(b) for the relative position transfer trajectory and the optical axis attitude trajectory, it can be seen that there is a large angle error between the optical axis pointing and the expected pointing in the early stage. The expected trajectory in the middle section directly passes through the conical strong light irradiation area, and the actual pointing bypasses the attitude restricted area, and then re-tracks the expected pointing. For the control torque shown in Figure 7, saturation occurs due to the large initial error; the control torque fluctuates around 200 seconds due to the need to avoid the attitude restricted area, and the amplitude constraint is always met at other times.
本发明实施例所提出的技术方案，相比以往势函数法，本发明的方法无需规避极小值问题，且本方法在运动约束下对执行机构的输出能力要求不高，能很好的完成在轨服务任务中的安全抵近问题，且服务航天器姿态机动角速度是燃料和误差约束下实时最优的。相比于模型预测控制直接采用姿态动力学模型，本发明可以达到降维优化问题减少计算量的目的。对于其中的姿态控制部分，其在处理姿态受限问题上也具有一定的优越性。Compared with the previous potential function method, the technical solution proposed in the embodiment of the present invention does not need to avoid the minimum value problem, and the method does not require high output capacity of the actuator under motion constraints. It can well complete the problem of safe approach in the on-orbit service mission, and the angular velocity of the service spacecraft attitude maneuver is the real-time optimal under the fuel and error constraints. Compared with the model predictive control that directly adopts the attitude dynamics model, the present invention can achieve the purpose of reducing the dimensionality of the optimization problem and reducing the amount of calculation. For the attitude control part, it also has certain advantages in dealing with attitude constraints.
基于前述技术方案相同的发明构思，参见图8，其示出了发明实施例提供的一种考虑输入饱和及运动约束的跟踪控制装置80，该装置80包括：第一构建部分801、第二构建部分802、第三构建部分803、第一设计部分804、获取部分805和第二设计部分806，其中，Based on the same inventive concept as the above technical solution, referring to FIG8 , a tracking control device 80 considering input saturation and motion constraints provided by an embodiment of the invention is shown. The device 80 includes: a first construction part 801, a second construction part 802, a third construction part 803, a first design part 804, an acquisition part 805, and a second design part 806, wherein:
所述第一构建部分801，经配置为针对服务航天器与目标航天器之间的期望距离构建期望平动；The first constructing part 801 is configured to construct a desired translation for a desired distance between the service spacecraft and the target spacecraft;
所述第二构建部分802，经配置为针对服务航天器与目标航天器之间的视线角指向约束构建所述服务航天器期望姿态；The second constructing part 802 is configured to construct the desired attitude of the service spacecraft according to the line of sight angle pointing constraint between the service spacecraft and the target spacecraft;
所述第三构建部分803，经配置为针对在轨服务过程中的任务需求，构建平动及转动的约束条件；The third construction part 803 is configured to construct translation and rotation constraints according to the mission requirements during the on-orbit service process;
所述第一设计部分804，经配置为基于所述期望平动以及平动的约束条件，以最小化燃料及跟踪误差为目标构建针对相对位置的模型预测控制MPC控制器；The first design part 804 is configured to construct a model predictive control MPC controller for relative position based on the desired translation and the constraints of the translation with the goal of minimizing fuel and tracking errors;
所述获取部分805，经配置为基于所述服务航天器的期望姿态及转动约束条件，通过MPC角速度规划模块获取期望的角速度；The acquisition part 805 is configured to acquire a desired angular velocity through an MPC angular velocity planning module based on a desired attitude and rotation constraints of the service spacecraft;
所述第二设计部分806，经配置为根据所述期望的角速度设计自适应抗饱和滑模控制器，并通过抗饱和辅助系统处理控制力矩饱和问题，以获得用于指向跟踪的姿态控制器。The second design part 806 is configured to design an adaptive anti-saturation sliding mode controller according to the desired angular velocity, and process the control torque saturation problem through an anti-saturation auxiliary system to obtain a posture controller for pointing tracking.
需要说明的是，对于上述装置中，各“部分”所配置功能的具体实现，可参见前述图1所示考虑输入饱和及运动约束的跟踪控制方法中相对应步骤的实现方式及其示例，在此不再赘述。It should be noted that, for the specific implementation of the functions configured in each "part" in the above-mentioned device, please refer to the implementation method and examples of the corresponding steps in the tracking control method considering input saturation and motion constraints shown in the aforementioned Figure 1, which will not be repeated here.
可以理解地，在本实施例中，“部分”可以是部分电路、部分处理器、部分程序或软件等等，当然也可以是单元，还可以是模块也可以是非模块化的。It can be understood that in this embodiment, "part" can be part of a circuit, part of a processor, part of a program or software, etc., and of course it can also be a unit, a module, or a non-modular one.
另外，在本实施例中的各组成部分可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。In addition, each component in this embodiment may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software function modules.
所述集成的单元如果以软件功能模块的形式实现并非作为独立的产品进行销售或使用时，可以存储在一个计算机可读取存储介质中，基于这样的理解，本实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或processor(处理器)执行本实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is implemented in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment is essentially or the part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the method described in this embodiment. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.
因此，本实施例提供了一种计算机存储介质，所述计算机存储介质存储有考虑输入饱和及运动约束的跟踪控制程序，所述考虑输入饱和及运动约束的跟踪控制程序被至少一个处理器执行时实现上述技术方案中所述考虑输入饱和及运动约束的跟踪控制方法步骤。Therefore, this embodiment provides a computer storage medium, which stores a tracking control program that takes input saturation and motion constraints into consideration. When the tracking control program that takes input saturation and motion constraints into consideration is executed by at least one processor, the steps of the tracking control method that takes input saturation and motion constraints into consideration in the above technical solution are implemented.
根据上述考虑输入饱和及运动约束的跟踪控制装置80以及计算机存储介质，参见图9，其示出了本发明实施例提供的一种能够实施上述考虑输入饱和及运动约束的跟踪控制装置80的计算设备90的具体硬件结构，该计算设备90可以为无线装置、移动或蜂窝电话(包含所谓的智能电话)、个人数字助理(PDA)、视频游戏控制台(包含视频显示器、移动视频游戏装置、移动视频会议单元)、膝上型计算机、桌上型计算机、电视机顶盒、平板计算装置、电子书阅读器、固定或移动媒体播放器，等。计算设备90包括：通信接口901，存储器902和处理器903；各个组件通过总线系统904耦合在一起。可理解，总线系统904用于实现这些组件之间的连接通信。总线系统904除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图9中将各种总线都标为总线系统904。其中，According to the above-mentioned tracking control device 80 considering input saturation and motion constraints and computer storage medium, see Figure 9, which shows a specific hardware structure of a computing device 90 that can implement the above-mentioned tracking control device 80 considering input saturation and motion constraints provided by an embodiment of the present invention. The computing device 90 can be a wireless device, a mobile or cellular phone (including a so-called smart phone), a personal digital assistant (PDA), a video game console (including a video display, a mobile video game device, a mobile video conferencing unit), a laptop computer, a desktop computer, a TV set-top box, a tablet computing device, an e-book reader, a fixed or mobile media player, etc. The computing device 90 includes: a communication interface 901, a memory 902 and a processor 903; each component is coupled together through a bus system 904. It can be understood that the bus system 904 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 904 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, various buses are labeled as bus system 904 in Figure 9. Among them,
所述通信接口901，用于在与其他外部网元之间进行收发信息过程中，信号的接收和发送；The communication interface 901 is used to receive and send signals during the process of sending and receiving information with other external network elements;
所述存储器902，用于存储能够在所述处理器903上运行的计算机程序；The memory 902 is used to store a computer program that can be run on the processor 903;
所述处理器903，用于在运行所述计算机程序时，执行上述技术方案中所述考虑输入饱和及运动约束的跟踪控制方法的步骤。The processor 903 is used to execute the steps of the tracking control method considering input saturation and motion constraints described in the above technical solution when running the computer program.
可以理解，本发明实施例中的存储器902可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data RateSDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(DirectRambus RAM，DRRAM)。本文描述的系统和方法的存储器902旨在包括但不限于这些和任意其它适合类型的存储器。It can be understood that the memory 902 in the embodiment of the present invention can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 902 of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.
而处理器903可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器903中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器903可以是通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本发明实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器902，处理器903读取存储器902中的信息，结合其硬件完成上述方法的步骤。The processor 903 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 903. The above processor 903 may be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor are combined to be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 902, and the processor 903 reads the information in the memory 902 and completes the steps of the above method in combination with its hardware.
可以理解的是，本文描述的这些实施例可以用硬件、软件、固件、中间件、微码或其组合来实现。对于硬件实现，处理单元可以实现在一个或多个专用集成电路(ApplicationSpecific Integrated Circuits，ASIC)、数字信号处理器(Digital Signal Processing，DSP)、数字信号处理设备(DSP Device，DSPD)、可编程逻辑设备(Programmable LogicDevice，PLD)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)、通用处理器、控制器、微控制器、微处理器、用于执行本申请所述功能的其它电子单元或其组合中。It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the present application, or a combination thereof.
对于软件实现，可通过执行本文所述功能的模块(例如过程、函数等)来实现本文所述的技术。软件代码可存储在存储器中并通过处理器执行。存储器可以在处理器中或在处理器外部实现。For software implementation, the techniques described herein can be implemented by modules (e.g., procedures, functions, etc.) that perform the functions described herein. The software code can be stored in a memory and executed by a processor. The memory can be implemented in the processor or outside the processor.
可以理解地，上述考虑输入饱和及运动约束的跟踪控制装置80以及计算设备90的示例性技术方案，与前述考虑输入饱和及运动约束的跟踪控制方法的技术方案属于同一构思，因此，上述对于考虑输入饱和及运动约束的跟踪控制装置80以及计算设备90的技术方案未详细描述的细节内容，均可以参见前述考虑输入饱和及运动约束的跟踪控制方法的技术方案的描述。本发明实施例对此不做赘述。It can be understood that the exemplary technical solutions of the tracking control device 80 and the computing device 90 considering input saturation and motion constraints are the same concept as the technical solution of the tracking control method considering input saturation and motion constraints. Therefore, the details not described in detail in the technical solutions of the tracking control device 80 and the computing device 90 considering input saturation and motion constraints can be referred to the description of the technical solution of the tracking control method considering input saturation and motion constraints. The embodiment of the present invention will not be elaborated on this.
需要说明的是：本发明实施例所记载的技术方案之间，在不冲突的情况下，可以任意组合。It should be noted that the technical solutions described in the embodiments of the present invention can be combined arbitrarily without conflict.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
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