The Elementary Study Of Simulation Spacecraft Control

The technology of spacecraft formation flight dynamics and control is a leading edge problem in astronautic field. Therefore it is also the hotspot research in many countries. As the large of the difficulty, risk and investment in direct space research, many countries adopt various methods, through simulating tiny gravity circumstance, to carry the experiment study. Whereas, the experiment study of our country in this field is relatively deficient. The cooperative control of multiple mobile-robots formation is studied in the paper. Then the application of the problem on ground experiment of simulation spacecraft is discussed. The following problems is studied in the paper:1. The background of ground experiment system of free-flying space robots and the study referenced are introduced, and the significance and instancy of enhancing study on ground experiment technology of astronautic dynamics and control are analyzed.2. Based on the study and compare on the present multiple mobile-robots control system, a multiple mobile-robots control system based on open agent architecture theory is adopted, and the function of the system and key technique is discussed.3. Two experiment platforms of simulation spacecraft formation control are set up, using self-developed simulation spacecrafts and ground experiment system referenced. The flight control simulation is operated to prepare for the object experiment when the experiment system is accomplished.4. Environment modeling and path programming are the important problem in the field of mobile robots. The common modeling methods is analyzed and summarized, and the environment model of experiment platform is presented. The path programming methods of multiple mobile-robots are analyzed and summarized. Finally, a path optimization algorithm fitted the dynamic environment, namely dynamic algorithm (D* algorithm) , is put forward, to search the path arrays. Then a dynamic path of mobile-robots is available.5. Several control methods of multiple mobile-robots is studied in the paper, and formation behavior is reduced to several sub-behavior via formation control algorithm of replacing the leader based on behavior, then control variables of every sub-behavior is calculated. All the control variables are weighted and mixed according to specific formation mission and task environment, the every control variable of mobile-robot is calculated, then the formation control of multiple mobile-robots is available.