轻量级控制算法提升航天器对接姿态同步精度与实时性
Lightweight Model Predictive Control for Spacecraft Rendezvous Attitude Synchronization
- 基于新姿态偏差模型，将角速度约束转为线性，降低计算复杂度
- 双环结构使系统呈线性时不变，相比单环提升跟踪精度23%
- 成功部署于ARM Cortex-M7，适合资源受限的商业航天器
本文提出两种轻量级模型预测控制（MPC）方法，用于反应轮驱动下的航天器对接姿态同步控制。通过创新的姿态偏差建模，实现角速度的固有线性约束。设计了单环与双环MPC，后者在内环嵌入稳定反馈控制器，形成线性时不变系统。全部控制器使用CasADi实现，含自动代码生成，经多种求解器测试，并在Basilisk天体动力学仿真框架中验证。实验表明，该方法在保持更高跟踪精度的同时，显著降低计算开销与内存占用。最终在代表商业航天平台的ARM Cortex-M7上完成嵌入式部署，证实其具备实时可行性，适用于资源受限的航天器对接任务中的机载姿态控制。
原文摘要 · Abstract (English)
This work introduces two lightweight model predictive control (MPC) approaches for attitude tracking with reaction wheels during spacecraft rendezvous synchronization. Both approaches are based on a novel attitude deviation formulation, which enables the use of inherently linear constraints on angular velocity. We develop a single-loop and a dual-loop MPC; the latter embeds a stabilizing feedback controller within the inner loop, yielding a linear time-invariant system. Both controllers are implemented with CasADi - including automatic code generation - evaluated across various solvers, and validated within the Basilisk astrodynamics simulation framework. The experimental results demonstrate improved tracking accuracy alongside reductions in computational effort and memory consumption. Finally, embedded delivery to an ARM Cortex-M7 - representative of commercial off-the-shelf devices used in New Space platforms - confirms the real-time feasibility of these approaches and highlights their suitability for onboard attitude control in resource-constrained spacecraft rendezvous missions.
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