中国空间科学技术

中国空间科学技术 ›› 2026, Vol. 46 ›› Issue (3): 119-129.doi: 10.16708/j.cnki.1000-758X.2026.0041

• 《中国空间科学技术（中英文）》创刊45周年专刊 • 上一篇    下一篇

Halo轨道保持的事件触发模型预测控制方法

李嘉维1,2，杜崇瑞1,2,*，代洪华1,2，岳晓奎1,2   

  1. 1.西北工业大学航天学院，西安710072
    2.航天飞行动力学技术国家级重点实验室，西安710072
  • 收稿日期:2025-11-07 修回日期:2025-12-18 录用日期:2025-12-30 发布日期:2026-05-21 出版日期:2026-05-31

Event-triggered model predictive control for Halo orbit station-keeping

LI Jiawei1,2，DU Chongrui1,2,*，DAI Honghua1,2，YUE Xiaokui1,2   

  1. 1.School of Astronautics，Northwestern Polytechnical University，Xi'an 710072，China
    2.National Key Laboratory of Aerospace Flight Dynamics，Xi'an 710072，China
  • Received:2025-11-07 Revision received:2025-12-18 Accepted:2025-12-30 Online:2026-05-21 Published:2026-05-31

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摘要： 针对地月空间Halo轨道保持任务中，非线性模型预测控制（NMPC）在每个控制周期均需求解复杂的非线性优化问题，导致星载计算资源消耗过大的情况，开展了在轨道保持精度、能耗与计算效率之间进行平衡的研究。首先基于地月圆限制性三体问题（CR3BP）与小推力轨道动力学建立了高精度动力学模型。进而，创新性地引入了事件触发机制（ETM），提出了两种事件触发非线性模型预测控制（ET-NMPC）算法。该方法摒弃了传统固定周期触发模式，设计了基于航天器实时位置跟踪误差的事件触发机制：仅当跟踪误差超过预设阈值时，才激活NMPC在线滚动优化；在误差低于阈值的非触发时段，则分别采用控制量冻结策略或控制量置零策略这两种低计算负荷的控制方式，从而从机制上避免大量不必要的在线优化计算。长期数值仿真结果表明，所提出的ET-NMPC策略在保证控制精度的同时，能显著降低计算负荷。在合理阈值设置下，两种策略相较于NMPC的平均计算时长节省率均超过50%，平均触发率降幅超过77%，实现了控制性能与星载计算资源消耗的平衡。提出的控制框架及其策略为资源严格受限的深空探测轨道控制任务提供了一种新的“按需优化”解决方案，显著拓展了非线性模型预测控制在复杂动力学系统中的工程适用边界。

关键词: 地月系统, 圆限制性三体问题, Halo轨道保持, 事件触发机制, 非线性模型预测控制

Abstract: This study aims to balance orbit-keeping accuracy，propellant consumption and computational efficiency for spacecraft station-keeping near Earth-Moon libration points. Traditional nonlinear model predictive control (NMPC) imposes a heavy onboard computational burden because it solves complex nonlinear optimization at every control step. A high-fidelity model is developed based on the circular restricted three-body problem combined with low-thrust orbital dynamics. The research introduces an event-triggered mechanism (ETM) and proposes two event-triggered NMPC (ET-NMPC) algorithms. Instead of fixed-period execution，the controller initiates online receding-horizon optimization only when the real-time position tracking error exceeds a preset threshold. Between triggers，when tracking performance remains satisfactory，two low-computation strategies are applied alternately：control-input freezing and control-input nullification. This design avoids numerous unnecessary online optimizations. Long-term numerical simulations show that the ET-NMPC strategies maintain control precision while greatly lowering computational load. With suitable thresholds，both methods reduce average computation time by over 50% and decrease the average triggering frequency by more than 77% compared with standard NMPC. The approach successfully balances control performance with limited onboard computational resources. The proposed control framework offers a novel ondemand optimization solution for deep-space orbital control under strict resource constraints. It significantly expands the practical applicability of nonlinear model predictive control in complex aerospace dynamical systems.

Key words: Earth-Moon system, circular restricted three-body problem, Halo orbit station-keeping, event-triggered mechanism, nonlinear model predictive control