一类簇状刚挠航天器模型与逆系统方法姿态控制研究
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摘要
中心刚体带附件的簇状航天器是应用比较广泛的一类航天器,其姿态控制系统是航天器重要的组成部分,控制系统的成败决定着航天器能否正确执行特定的任务。因此,对这类航天器姿态控制的研究具有重要的意义。本文结合国防科工委“十五”基础预研项目“复杂机构卫星智能自适应逆控制技术的研究”和国家自然科学基金“一类基于智能自适应逆控制的复杂系统研究与应用”,以带挠性附件的簇状刚挠航天器为对象,分析了姿态模型和梁的振动模型;详细研究了逆系统方法,探讨了逆系统的解析构造,将逆系统方法用于设计航天器姿态控制器,分别在不考虑执行器和考虑执行器情况下设计复合控制器,并进行了仿真研究。
论文首先给出带挠性附件的簇状航天器姿态动力学模型和在轨固支-自由三维挠性Euler-Bernoulli梁振动模型。姿态动力学模型采用了Newton-Euler法推导,运动学方程使用了Euler角姿态描述方式,而梁的振动方程则采用了微元法。梁的振动方程求解采用了固支自由标准模态展开,以此详细分析了航天器姿态机动对挠性梁的影响以及挠性梁振动对航天器本体的影响。并对航天器的环境力矩进行了数值计算。
从状态方程和微分方程两个角度研究了逆系统方法。针对Interactor算法不能构造解析逆的局限性,提出了Interactor算法的改进,对一般情况下的广义逆系统构造方法进行了深入讨论。在分析伪线性复合系统可镇定性和解耦非理想性的基础上,将极点配置和内模原理用于闭环控制;分析了由逆系统与内模控制器构成的复合控制器的鲁棒性。将逆系统方法用于航天器的姿态控制,比较了极点配置与内模控制作为闭环控制器的性能。仿真结果表明,基于逆系统的内模控制方法在航天器姿态机动控制中具有很强的鲁棒性,并可以通过附加前置滤波器降低控制量。
将逆系统方法用于含飞轮的航天器姿态控制器设计。考虑了飞轮的阻力效应,建立了飞轮的MIMO仿真模型,并评估了摩擦对飞轮的影响。提出对飞轮进行低、高速同时补偿,并基于观测器设计了低、高速补偿器。采用逆系统与内模原理相结合的方法设计了航天器姿态控制器,并进行了仿真研究。结果表明,利用逆系统与内模原理相结合的方法对含飞轮的航天器进行姿态控制是可行的。对含PWPF调制器的航天器姿态控制,由于PWPF调制器与航天器模型构成的广义对象存在回滞本质非线性而不可逆,提出了基于Lyapunov函数构造控制器的方法,分析了稳定性,并进行了仿真计算。
最后,将逆系统方法用于带挠性梁的航天器姿态控制器设计。分别采用解析构造和神经网络逼近两种方式获得逆系统,结合内模原理设计闭环姿态控制器,并进行了仿真研究。结果表明,在梁的模态可测情况下,逆系统方法也可应用于带挠性梁的航天器。
As a consequence of the increasing demand for high performance positioning and rapid maneuvering in space missions, research works have focused considerable attention on the modeling and control of the rigid-flexible coupling spacecraft in last twenty years. Especially, the spacecraft whose configuration is composed of the central rigid body and some fixed or hinged flexible appendages is excessively paid attention to. Therefore,the dissertation is based on the pre-research defense project“Research of the intelligent adaptive inverse control for flexible satellite”of the National 10th five-year plan and the National Natural Science Foundation of China“Research and application of intelligent adaptive inverse control for a class of complex system”. Dynamic model, kinetic model and beam vibration model of a cluster-like rigid-flexible spacecraft are given and analyzed. Inverse system method is studied in detail, and inverse system’s analytic construction is presented. Inverse system method and internal mode principle are used to attitude control design for a spacecraft with actuators and without actuators, and simulations are done. Research contents are followed:
Firstly, attitude dynamic model of a cluster-like rigid-flexible spacecraft and Euler-Bernoulli beam vibration model are established. Newton-Euler method is used to derivate attitude dynamic model, and kinetic mode is described in the form of Euler angle. Tiny element method is used to derivate vibration model, and vibration equations are solved by using fixed-free standard modes. The influence that spacecraft’s maneuvers impose on the flexible beam and its counterpart are analyzed based on kinematic equations, dynamic equations and vibration equations. Numerical calculation of environment moments is done.
Secondly, Inverse system method is studied from two ways-state equations and differential equations. Improvement of Interactor algorithm is presented in order to construct analytic inverse system. Construction of generalized inverse system is discussed in detail. Stabilization and non-idealization for pseudo-linear system are analyzed, and pole assignment and internal model principle are applied to the closed-loop system. Robustness of the multiplex controller which is composed of inverse system and internal model controller is proved. Inverse system method is applied to spacecraft attitude control. Performance difference between pole assignment and internal control which acts as the closed-loop controller is compared. Simulation result shows that the latter has strong robustness in spacecraft attitude control, and added pre-filter reduce control value.
Inverse system method is also applied to attitude control of the spacecraft with flywheels. A MIMO dynamic simulation model is established via the machine- electricity equations, Dahl friction model and air resistance model, and effect that friction has on the flywheel is evaluated. It is presented that voltage compensator, which is based on a state observer, is designed at low speed and high speed. Spacecraft attitude controller integrates inverse system and internal controller. Simulation result shows the attitude controller is feasible. Because a hysteresis essential nonlinearity is a part of the spacecraft with PWPF modulation, inverse system method can’t be used. Lyapunov function-based control law is presented, and its stability is analyzed. Simulation result shows the attitude controller is validate.
Finally, the inverse system method is applied to the attitude control of the flexible spacecraft. Inverse system of the plant is individually obtained by using Analytic construction and neural network construction. Internal controller is used as the closed-loop controller. Simulation result shows the attitude controller is validate.
论文首先给出带挠性附件的簇状航天器姿态动力学模型和在轨固支-自由三维挠性Euler-Bernoulli梁振动模型。姿态动力学模型采用了Newton-Euler法推导,运动学方程使用了Euler角姿态描述方式,而梁的振动方程则采用了微元法。梁的振动方程求解采用了固支自由标准模态展开,以此详细分析了航天器姿态机动对挠性梁的影响以及挠性梁振动对航天器本体的影响。并对航天器的环境力矩进行了数值计算。
从状态方程和微分方程两个角度研究了逆系统方法。针对Interactor算法不能构造解析逆的局限性,提出了Interactor算法的改进,对一般情况下的广义逆系统构造方法进行了深入讨论。在分析伪线性复合系统可镇定性和解耦非理想性的基础上,将极点配置和内模原理用于闭环控制;分析了由逆系统与内模控制器构成的复合控制器的鲁棒性。将逆系统方法用于航天器的姿态控制,比较了极点配置与内模控制作为闭环控制器的性能。仿真结果表明,基于逆系统的内模控制方法在航天器姿态机动控制中具有很强的鲁棒性,并可以通过附加前置滤波器降低控制量。
将逆系统方法用于含飞轮的航天器姿态控制器设计。考虑了飞轮的阻力效应,建立了飞轮的MIMO仿真模型,并评估了摩擦对飞轮的影响。提出对飞轮进行低、高速同时补偿,并基于观测器设计了低、高速补偿器。采用逆系统与内模原理相结合的方法设计了航天器姿态控制器,并进行了仿真研究。结果表明,利用逆系统与内模原理相结合的方法对含飞轮的航天器进行姿态控制是可行的。对含PWPF调制器的航天器姿态控制,由于PWPF调制器与航天器模型构成的广义对象存在回滞本质非线性而不可逆,提出了基于Lyapunov函数构造控制器的方法,分析了稳定性,并进行了仿真计算。
最后,将逆系统方法用于带挠性梁的航天器姿态控制器设计。分别采用解析构造和神经网络逼近两种方式获得逆系统,结合内模原理设计闭环姿态控制器,并进行了仿真研究。结果表明,在梁的模态可测情况下,逆系统方法也可应用于带挠性梁的航天器。
As a consequence of the increasing demand for high performance positioning and rapid maneuvering in space missions, research works have focused considerable attention on the modeling and control of the rigid-flexible coupling spacecraft in last twenty years. Especially, the spacecraft whose configuration is composed of the central rigid body and some fixed or hinged flexible appendages is excessively paid attention to. Therefore,the dissertation is based on the pre-research defense project“Research of the intelligent adaptive inverse control for flexible satellite”of the National 10th five-year plan and the National Natural Science Foundation of China“Research and application of intelligent adaptive inverse control for a class of complex system”. Dynamic model, kinetic model and beam vibration model of a cluster-like rigid-flexible spacecraft are given and analyzed. Inverse system method is studied in detail, and inverse system’s analytic construction is presented. Inverse system method and internal mode principle are used to attitude control design for a spacecraft with actuators and without actuators, and simulations are done. Research contents are followed:
Firstly, attitude dynamic model of a cluster-like rigid-flexible spacecraft and Euler-Bernoulli beam vibration model are established. Newton-Euler method is used to derivate attitude dynamic model, and kinetic mode is described in the form of Euler angle. Tiny element method is used to derivate vibration model, and vibration equations are solved by using fixed-free standard modes. The influence that spacecraft’s maneuvers impose on the flexible beam and its counterpart are analyzed based on kinematic equations, dynamic equations and vibration equations. Numerical calculation of environment moments is done.
Secondly, Inverse system method is studied from two ways-state equations and differential equations. Improvement of Interactor algorithm is presented in order to construct analytic inverse system. Construction of generalized inverse system is discussed in detail. Stabilization and non-idealization for pseudo-linear system are analyzed, and pole assignment and internal model principle are applied to the closed-loop system. Robustness of the multiplex controller which is composed of inverse system and internal model controller is proved. Inverse system method is applied to spacecraft attitude control. Performance difference between pole assignment and internal control which acts as the closed-loop controller is compared. Simulation result shows that the latter has strong robustness in spacecraft attitude control, and added pre-filter reduce control value.
Inverse system method is also applied to attitude control of the spacecraft with flywheels. A MIMO dynamic simulation model is established via the machine- electricity equations, Dahl friction model and air resistance model, and effect that friction has on the flywheel is evaluated. It is presented that voltage compensator, which is based on a state observer, is designed at low speed and high speed. Spacecraft attitude controller integrates inverse system and internal controller. Simulation result shows the attitude controller is feasible. Because a hysteresis essential nonlinearity is a part of the spacecraft with PWPF modulation, inverse system method can’t be used. Lyapunov function-based control law is presented, and its stability is analyzed. Simulation result shows the attitude controller is validate.
Finally, the inverse system method is applied to the attitude control of the flexible spacecraft. Inverse system of the plant is individually obtained by using Analytic construction and neural network construction. Internal controller is used as the closed-loop controller. Simulation result shows the attitude controller is validate.
引文
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