Геостационарный спутник (GeoSat) — продольная динамика¶

Геостационарные спутники — ИСЗ на геостационарной орбите, неподвижные относительно поверхности Земли. Страница оформлена по аналогии с ELV: быстрый старт, математика, таблицы производных и API.

Быстрый старт

Запустите среду или модель за минуты.

К примеру
API модели

Документация Python‑класса GeoSat.

К API
Среда Gymnasium

Готовая среда для RL‑агентов.

К среде
Теория

Уравнения состояния и численные параметры.

К модели

Как устроен объект управления¶

Модель задана в пространстве состояний:

\[\dot{x} = A x + B u, \quad y = C x + D u\]

Где:

\[ x = \begin{bmatrix} \rho & \theta & \omega \end{bmatrix}^{\top}, \quad u_{in} = \eta \]

Типовая структура матриц:

\[ \begin{bmatrix} \dot{\rho} \\ \dot{\theta} \\ \dot{\omega} \end{bmatrix} = \begin{bmatrix} 0 & 1 & 0 \\ f_1(\rho, \omega) & 0 & f_2(\rho, \omega) \\ 0 & f_3(\omega, r) & 0 \end{bmatrix} \begin{bmatrix} \rho \\ \theta \\ \omega \end{bmatrix} + \begin{bmatrix} 0 \\ 0 \\ g(r) \end{bmatrix} \eta \]

ПеременныеКоэффициенты

ρ: отношение высоты полёта к радиусу Земли, [-]
θ: позиция спутника относительно земной СК, рад
ω: угловая скорость вращения, рад/с
η: управляющее воздействие (тяга)

f1(ρ, ω) ≈ 0.01036 — производная по ρ
f2(ρ, ω) ≈ 0.7757 — производная по ω в уравнении θ̇
f3(ω, r) ≈ -0.1775 — производная по θ в уравнении ω̇
g(r) ≈ 0.1513 — влияние тяги на ω̇

О единицах измерения

Углы и угловые скорости — в радианах. Методы API поддерживают выдачу в градусах.

Математическая модель¶

\[ \dot{x} = A x + B u, \qquad y = C x + D u \]

Численные матрицы (пример линеаризации):

\[ \begin{bmatrix} \dot{\rho} \\ \dot{\theta} \\ \dot{\omega} \end{bmatrix} = \begin{bmatrix} 0 & 1 & 0 \\ 0.01036 & 0 & 0.7757 \\ 0 & -0.1775 & 0 \end{bmatrix} \begin{bmatrix} \rho \\ \theta \\ \omega \end{bmatrix} + \begin{bmatrix} 0 \\ 0 \\ 0.1513 \end{bmatrix} \eta \]

Производные (численные значения)¶

Матрица A (производные):

Коэффициент	Значение
a_ρθ (∂ρ̇/∂θ)	1.0
a_θρ (∂θ̇/∂ρ)	0.01036
a_θω (∂θ̇/∂ω)	0.7757
a_ωθ (∂ω̇/∂θ)	-0.1775

Вход η (столбец B):

Коэффициент	Значение
b_η→ω (∂ω̇/∂η)	0.1513

Источники¶

Tun, Hla & Mon, Lae & Lwin, Kyaw & Naing, Zaw. (2012). Implementation of Communication Satellite Orbit Controller Design Using State Space Techniques. ASEAN Journal on Science and Technology for Development. 29. 29‑49. 10.29037/ajstd.48.

Награда¶

Функция награды по умолчанию возвращает отрицательную абсолютную ошибку отслеживания угловой позиции:

\[r_t = -|\theta(t) - \theta_{\text{ref}}(t)|\]

Чем выше награда (ближе к 0), тем лучше качество отслеживания. Пользовательская функция награды может быть передана через параметр reward_func.

Быстрый старт¶

GymnasiumТолько модель

import gymnasium as gym 
import numpy as np

from tensoraerospace.envs import GeoSatEnv
from tensoraerospace.utils import generate_time_period
from tensoraerospace.signals.standard import unit_step

dt = 0.01
tp = generate_time_period(tn=20, dt=dt)
number_time_steps = len(tp)
reference_signals = unit_step(degree=5, tp=tp, time_step=10, output_rad=True).reshape(1, -1)

env = gym.make(
    'GeoSat-v0',
    number_time_steps=number_time_steps, 
    initial_state=[[0],[0],[0]],
    reference_signal=reference_signals,
)
state, info = env.reset()
for _ in range(200):
    action = np.array([[0.1]])
    state, reward, terminated, truncated, info = env.step(action)
    if terminated or truncated:
        break

import numpy as np
from tensoraerospace.aerospacemodel import GeoSat

dt = 0.01
number_time_steps = 200

x0 = np.array([0.0, 0.0, 0.0])  # [rho, theta, omega]

model = GeoSat(
    x0=x0,
    number_time_steps=number_time_steps,
    selected_state_output=["rho", "theta", "omega"],
    dt=dt,
)

for t in range(number_time_steps - 1):
    u = np.array([[0.05]])
    x_next = model.run_step(u)

Python API¶

МодельСреда Gymnasium

`GeoSat(x0, number_time_steps, selected_state_output=None, t0=0, dt=0.01)` ¶

Bases: ModelBase

Geostationary satellite in longitudinal control channel.

Parameters:

Name	Type	Description	Default
`x0`	`ndarray \| list[float]`	Initial state of the control object.	required
`number_time_steps`	`int`	Number of time steps.	required
`selected_state_output`	`optional`	Selected states of the control object. Defaults to None.	`None`
`t0`	`int`	Initial time. Defaults to 0.	`0`
`dt`	`float`	Discretization frequency. Defaults to 0.01.	`0.01`

Action space

thrust: engine thrust [N]

State space

rho: ratio of flight altitude to Earth radius theta: satellite position relative to Earth coordinate system [rad] omega: satellite angular velocity [rad/s]

Output space

rho: ratio of flight altitude to Earth radius theta: satellite position relative to Earth coordinate system [rad] omega: satellite angular velocity [rad/s]

Initialize GeoSat instance.

Parameters:

Name	Type	Description	Default
`x0`	`ndarray \| list[float]`	Initial state of the control object.	required
`number_time_steps`	`int`	Number of time steps.	required
`selected_state_output`	`list[str] \| None`	Selected states of the control object. Defaults to None.	`None`
`t0`	`float`	Initial time. Defaults to 0.	`0`
`dt`	`float`	Discretization frequency. Defaults to 0.01.	`0.01`

`import_linear_system()` ¶

Load (set) stored linearized system matrices.

Values are taken from the authoritative Simulink reference model tensoraerospace/aerospacemodel/simulinkModel/geosat/geosat_data.m, which is the source of truth for this linearization.

NOTE: The Russian/English markdown docs under docs/**/model/geosat.md currently list slightly different coefficients (0.7757, -0.1775, 0.1513). Those values actually correspond to the ComSat model (see simulinkModel/comsat/comsat_data.m) and the docs are likely a copy/paste error. The Simulink .m reference is trusted here. TODO: reconcile docs/**/model/geosat.md with the Simulink source.

`initialise_system(x0, number_time_steps)` ¶

Initialize the system and allocate history buffers.

Parameters:

Name	Type	Description	Default
`x0`	`ndarray \| list[float]`	Initial state.	required
`number_time_steps`	`int`	Number of simulation steps.	required

`run_step(ut_0)` ¶

Run one discrete-time simulation step.

Parameters:

Name	Type	Description	Default
`ut_0`	`ndarray`	Control vector.	required

Returns:

Type	Description
`ndarray`	np.ndarray: Next state at time t+1.

`update_system_attributes()` ¶

Update time-dependent attributes after each simulation step.

`get_state(state_name, to_deg=False, to_rad=False)` ¶

Return the time history of a state.

Parameters:

Name	Type	Description	Default
`state_name`	`str`	State name.	required
`to_deg`	`bool`	Convert radians to degrees.	`False`
`to_rad`	`bool`	Convert degrees to radians.	`False`

Returns:

Type	Description
`ndarray`	np.ndarray: State history array.

`get_control(control_name, to_deg=False, to_rad=False)` ¶

Return the time history of a control input.

Parameters:

Name	Type	Description	Default
`control_name`	`str`	Control signal name.	required
`to_deg`	`bool`	Convert radians to degrees.	`False`
`to_rad`	`bool`	Convert degrees to radians.	`False`

Returns:

Type	Description
`ndarray`	np.ndarray: Control history array.

`get_output(state_name, to_deg=False, to_rad=False)` ¶

Return the time history of an output signal.

Parameters:

Name	Type	Description	Default
`state_name`	`str`	Output name.	required
`to_deg`	`bool`	Convert radians to degrees.	`False`
`to_rad`	`bool`	Convert degrees to radians.	`False`

Returns:

Type	Description
`ndarray`	np.ndarray: Output history array.

`plot_output(output_name, time, lang='rus', to_deg=False, to_rad=False, figsize=(10, 10))` ¶

Plot an output signal over time.

Parameters:

Name	Type	Description	Default
`output_name`	`str`	Output name.	required
`time`	`ndarray`	Time vector.	required
`lang`	`str`	Axis label language ('rus' or 'eng'). Defaults to 'rus'.	`'rus'`
`to_deg`	`bool`	Convert radians to degrees.	`False`
`to_rad`	`bool`	Convert degrees to radians.	`False`
`figsize`	`tuple`	Figure size.	`(10, 10)`

Returns:

Type	Description
`Figure`	matplotlib.figure.Figure: Figure object.

`GeoSatEnv(initial_state, reference_signal, number_time_steps, tracking_states=None, state_space=None, control_space=None, output_space=None, reward_func=None)` ¶

Bases: Env

Gymnasium environment for geostationary satellite control.

Parameters:

Name	Type	Description	Default
`initial_state`	`ndarray \| list[float]`	Initial state.	required
`reference_signal`	`ndarray \| Callable`	Reference signal.	required
`number_time_steps`	`int`	Number of simulation steps.	required
`tracking_states`	`list[str] \| None`	Tracked states.	`None`
`state_space`	`list[str] \| None`	State space.	`None`
`control_space`	`list[str] \| None`	Control space.	`None`
`output_space`	`list[str] \| None`	Full output space (including noise).	`None`
`reward_func`	`Callable \| None`	Reward function (WIP status).	`None`

Initialize geosationary satellite environment.

`reward(state, ref_signal, ts)` `staticmethod` ¶

Evaluate control performance.

Parameters:

Name	Type	Description	Default
`state`	`ndarray`	Current state.	required
`ref_signal`	`ndarray`	Reference signal.	required
`ts`	`int`	Time step.	required

Returns:

Name	Type	Description
`float`	`float`	Control evaluation reward (negative absolute error).

`step(action)` ¶

Execute one simulation step.

Parameters:

Name	Type	Description	Default
`action`	`ndarray`	Control signal array for selected actuators.	required

Returns:

Name	Type	Description
`tuple`	`tuple[ndarray, float, bool, bool, dict[str, float]]`	Tuple containing: - next_state (np.ndarray): Next state of the control object. - reward (np.ndarray): Evaluation of control algorithm actions. - done (bool): Simulation status, whether completed or not. - truncated (bool): Whether episode was truncated. - info (dict): Additional information.

`reset(seed=None, options=None)` ¶

Reset simulation environment to initial conditions.

Parameters:

Name	Type	Description	Default
`seed`	`int`	Random seed. Defaults to None.	`None`
`options`	`dict`	Additional initialization options. Defaults to None.	`None`

Returns:

Name	Type	Description
`tuple`	`tuple[ndarray, dict[str, float]]`	Tuple containing: - observation (np.ndarray): Initial observation. - info (dict): Additional information.

`render()` ¶

Visual rendering of actions in the environment. Work in progress.

Raises:

Type	Description
`NotImplementedError`	Rendering is not yet implemented.

Геостационарный спутник (GeoSat) — продольная динамика¶

Как устроен объект управления¶

Математическая модель¶

Производные (численные значения)¶

Источники¶

Награда¶

Быстрый старт¶

Python API¶

GeoSat(x0, number_time_steps, selected_state_output=None, t0=0, dt=0.01) ¶

import_linear_system() ¶

initialise_system(x0, number_time_steps) ¶

run_step(ut_0) ¶

update_system_attributes() ¶

get_state(state_name, to_deg=False, to_rad=False) ¶

get_control(control_name, to_deg=False, to_rad=False) ¶

get_output(state_name, to_deg=False, to_rad=False) ¶

plot_output(output_name, time, lang='rus', to_deg=False, to_rad=False, figsize=(10, 10)) ¶

GeoSatEnv(initial_state, reference_signal, number_time_steps, tracking_states=None, state_space=None, control_space=None, output_space=None, reward_func=None) ¶

reward(state, ref_signal, ts) staticmethod ¶

step(action) ¶

reset(seed=None, options=None) ¶

render() ¶

`GeoSat(x0, number_time_steps, selected_state_output=None, t0=0, dt=0.01)` ¶

`import_linear_system()` ¶

`initialise_system(x0, number_time_steps)` ¶

`run_step(ut_0)` ¶

`update_system_attributes()` ¶

`get_state(state_name, to_deg=False, to_rad=False)` ¶

`get_control(control_name, to_deg=False, to_rad=False)` ¶

`get_output(state_name, to_deg=False, to_rad=False)` ¶

`plot_output(output_name, time, lang='rus', to_deg=False, to_rad=False, figsize=(10, 10))` ¶

`GeoSatEnv(initial_state, reference_signal, number_time_steps, tracking_states=None, state_space=None, control_space=None, output_space=None, reward_func=None)` ¶

`reward(state, ref_signal, ts)` `staticmethod` ¶

`step(action)` ¶

`reset(seed=None, options=None)` ¶

`render()` ¶