基于指令滤波的低频挠性航天器振动控制方法
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摘要
在经典的Bang-Bang姿态机动指令基础上,通过滤波处理,结合姿态跟踪控制器,使航天器在姿态机动时跟踪设计的机动路径,实现了机动过程中低频挠性模态的振动抑制,并通过物理试验系统进行了验证.由于所采用的滤波器在形式以及参数设计上,均可采用传统的结构滤波器的形式和设计方法,因此使滤波器的设计均有章可循,避免了其它机动路径方法,如加速度指令规划、多项式指令规划等参数设计依据经验与数值仿真进行调试的问题.利用数学仿真设计方法进行了验证,发现采用滤波方法后,机动到位后稳定的时间与模态的振动周期相当,在几秒钟量级,相对传统的Bang-Bang控制,稳定时间缩小80%以上;最后构建物理试验系统,同样验证了方法的有效性和结论的正确性.
The command filter of classical Bang-Bang,and attitude tracking controller are corporately used to control the flexible spacecraft. The vibration of flexible modes and attitude of spacecraft can be substantially impressed with the attitude tracking the command route. A physical test bed is established to validate the method. Since the parameters and structure of the filters are similar to the classical structure filter,the structure and parameters can be designed via different mature methods,avoiding the other methods,such as the methods of acceleration programming,or polynomial programming. Compared to the cycle of vibration of mode,the simulation results show that the time for attitude stabilization is in the magnitude of few seconds,which is shorted by about 80 percent. The numerical and physical experiments validate the results.
The command filter of classical Bang-Bang,and attitude tracking controller are corporately used to control the flexible spacecraft. The vibration of flexible modes and attitude of spacecraft can be substantially impressed with the attitude tracking the command route. A physical test bed is established to validate the method. Since the parameters and structure of the filters are similar to the classical structure filter,the structure and parameters can be designed via different mature methods,avoiding the other methods,such as the methods of acceleration programming,or polynomial programming. Compared to the cycle of vibration of mode,the simulation results show that the time for attitude stabilization is in the magnitude of few seconds,which is shorted by about 80 percent. The numerical and physical experiments validate the results.
引文
[1]刘一武,张军.敏捷卫星快速姿态机动控制方法研究[C]∥全国第十三届空间及运动体控制技术学术会议.北京:中国自动化学会,2008.LIU Y W,ZHANG J.Smart attitude maneuver control of agile satellite[C]∥The 13thConference on Control of Space and Mobile Objects.Beijing:CAA,2008.
[2]雷拥军,谈树萍,刘一武.一种航天器姿态快速机动及稳定控制方法[J].中国空间科学技术,2010,30(5):43-53.LEI Y J,TAN S P,LIU Y W.Spacecraft control method for fast attitude maneuver and stabilization[J].Chinese Space Science and Technology,2010,30(5):43-53.
[3]PARMAN S,KOGUCHI H.Controlling the attitude maneuvers of flexible spacecraft by using time-optimal/fuelefficient shaped inputs[J].Journal of Sound and Vibration,1999,221(4):545-565.
[4]刘德庆,彭仁军,张子龙.基于路径规划和输入成型的挠性航天器振动控制方法[J].上海航天,2014,31(4):41-46.LIU D Q,PENG R J,ZHANG Z L.Vibration control method of flexible spacecraft based on path planning and input shaping[J].Aerospace Shanghai,2014,31(4):41-46.
[5]张军,徐世杰.基于SDRE方法的挠性航天器姿态控制[C]∥全国第十二届空间及运动体控制技术学术会议.北京:中国自动化学会,2006.ZHANG J,XU S J.Control of flexible spacecraft via state-dependent riccati equation technique[C]∥The12thConference on Control of Space and Mobile Objects.Beijing:CAA,2006.
[6]SCHAUB H,VADALI S R,JUNKINS J L.Feedback control law for variable speed control moment gyros[J].The Journal of The Astronautical Sciences,1998,46(3):307-328.
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[2]雷拥军,谈树萍,刘一武.一种航天器姿态快速机动及稳定控制方法[J].中国空间科学技术,2010,30(5):43-53.LEI Y J,TAN S P,LIU Y W.Spacecraft control method for fast attitude maneuver and stabilization[J].Chinese Space Science and Technology,2010,30(5):43-53.
[3]PARMAN S,KOGUCHI H.Controlling the attitude maneuvers of flexible spacecraft by using time-optimal/fuelefficient shaped inputs[J].Journal of Sound and Vibration,1999,221(4):545-565.
[4]刘德庆,彭仁军,张子龙.基于路径规划和输入成型的挠性航天器振动控制方法[J].上海航天,2014,31(4):41-46.LIU D Q,PENG R J,ZHANG Z L.Vibration control method of flexible spacecraft based on path planning and input shaping[J].Aerospace Shanghai,2014,31(4):41-46.
[5]张军,徐世杰.基于SDRE方法的挠性航天器姿态控制[C]∥全国第十二届空间及运动体控制技术学术会议.北京:中国自动化学会,2006.ZHANG J,XU S J.Control of flexible spacecraft via state-dependent riccati equation technique[C]∥The12thConference on Control of Space and Mobile Objects.Beijing:CAA,2006.
[6]SCHAUB H,VADALI S R,JUNKINS J L.Feedback control law for variable speed control moment gyros[J].The Journal of The Astronautical Sciences,1998,46(3):307-328.
[7]WIE B,BYUN K W.New generalized structural filtering concept for active vibration control synthesis[J].Journal of Guidance,Control and Dynamics.1989,12(2):147-154.