多体航天器大角度机动控制研究
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摘要
大角度机动作为现代航天器姿态控制关键技术之一,一直为航天控制领域关注。本文考虑参数不确定性,系统研究了多体航天器大角度机动控制问题。考虑天线支撑臂挠性转角变形对天线指向的影响,应用若丹原理,建立了柔性多体航天器动力学方程。通过引入角度和角速度约束,推导多目标跟踪的参考姿态表达式。
研究了航天器姿态机动的鲁棒控制问题。借鉴逆系统思想,提出期望逆系统的概念,将姿态跟踪问题转化为调节问题,简化了控制器设计。考虑参数不确定性,基于期望逆系统和滑模控制理论设计了鲁棒姿态跟踪控制器,并应用Lyapunov稳定性理论证明了控制系统的稳定性。将逆系统方法与H∞和μ综合方法结合,设计非线性的鲁棒控制器。引入PD控制器,避免混合灵敏度设计时方程出现奇异,方便控制器设计。
应用RBF神经网络和ESN动态递归神经网络,设计了两种姿态跟踪控制器。基于RBF网络的鲁棒跟踪控制器由RBF网络和滑模补偿器组成,前者用于补偿模型不确定部分和外部干扰力矩,后者用于补偿神经网络的逼近误差和实现期望的控制性能。利用终端滑模的有限时间收敛属性,改进传统梯度下降学习算法,提高了该控制器的性能。基于ESN网络设计了另一种姿态跟踪鲁棒控制器,应用Lyapunov稳定性理论,证明了控制系统的稳定性。应用遗传算法和模拟退火算法对ESN网络的主要特征参数和网络拓扑结构进行优化,解决网络主要特征参数难于选取的难题,提高了网络工作效率。
提出了刚弹液耦合多体航天器物理实验系统设计方案。应用连通器原理设计液体燃料箱系统,采用齿轮传动系统同步驱动一对反对称安装的快速机动天线。设计方案确保系统相对磁浮台转轴不产生偏心,使磁浮台能正常工作。通过选择不同控制、测量、激振组合,该实验系统可以用于研究刚弹液耦合系统的动力学特性、中心体姿态机动及多目标姿态跟踪控制等多类问题。
The large angle maneuver is one of the key technologies for spacecraft attitude control, which has been the focus of attention. The paper systematically studies large angle maneuver control of spacecraft in the presence of mass parameter uncertainties
Jourdain’s principle is employed to derive the dynamic equations of multi-body spacecraft with flexible appendages, and the rotation angle of the end of antenna arm caused by the deformations is considered, which effects the tracking accuracy of the antenna. Introducing an angular velocity constraint and an angular constraint, two methods are proposed to compute the reference attitude profiles of the camera and antenna, respectively.
To simplify the control design problem, this paper derives the desired inverse system, which can convert the attitude tracking problem into the regulator problem. Based on the desired inverse system and sliding mode control, a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance. By Lyapunov stablity theory, the closed loop system stability can be achieved. Base on the inverse system method and H_∞control method,μsynthesis technique, the paper designs two nonlinear robust controllers. The controller consists of a linear robust controller and a PD controller. The PD controller avoids the singular problem in the design of Mixed Sensitivity Robust Control.
Based on radial basis function neural network and echo state network, two neural controllers are developed, respectively. The RBF controller consists of a radial basis function network and a robust controller. The radial basis function network can compensate the parameter uncertainties and external disturbances, and a robust controller can compensate RBFN approximation error and realize the anticipative stability and performance properties. Utilizing the finite time convergent property of terminal sliding mode, an online learning algorithm based on TSM for updating all the parameters of the RBFN is derived, which improves tracking performance of the controller. Simulation results demonstrate the good tracking performance of the control scheme. The robust controller based on echo state network is developed for the attitude tracking. The genetic algorithm is employed to optimize the ESN's primary parameters, which removes the difficulty of choosing the ESN parameters. This control approach requires no prior knowledge about the dynamic model.
The paper designs a physical simulation experiment system for the rigid-flexible-fluid coupling multi-body spacecraft. Using law of equilibrium in connected vessels, the liquid fuel tank system is designed. The couple of rapid maneuver antennas are drived by planet gear synchronous driving apparatus, which are antisymmetric about the axis of magnetic-bear simulator. The design avoids the eccentric load, and ensures that the magnetic-bear simulator can work well. By choosing controllers, sensors and exciters, many experiment strategies can be realized, including the dynamic characteristics of the rigid-flexible-fluid coupling multi-body spacecraft, the large angle maneuver of the center body of spacecraft and multi-target attitude tracking control, and so on.
研究了航天器姿态机动的鲁棒控制问题。借鉴逆系统思想,提出期望逆系统的概念,将姿态跟踪问题转化为调节问题,简化了控制器设计。考虑参数不确定性,基于期望逆系统和滑模控制理论设计了鲁棒姿态跟踪控制器,并应用Lyapunov稳定性理论证明了控制系统的稳定性。将逆系统方法与H∞和μ综合方法结合,设计非线性的鲁棒控制器。引入PD控制器,避免混合灵敏度设计时方程出现奇异,方便控制器设计。
应用RBF神经网络和ESN动态递归神经网络,设计了两种姿态跟踪控制器。基于RBF网络的鲁棒跟踪控制器由RBF网络和滑模补偿器组成,前者用于补偿模型不确定部分和外部干扰力矩,后者用于补偿神经网络的逼近误差和实现期望的控制性能。利用终端滑模的有限时间收敛属性,改进传统梯度下降学习算法,提高了该控制器的性能。基于ESN网络设计了另一种姿态跟踪鲁棒控制器,应用Lyapunov稳定性理论,证明了控制系统的稳定性。应用遗传算法和模拟退火算法对ESN网络的主要特征参数和网络拓扑结构进行优化,解决网络主要特征参数难于选取的难题,提高了网络工作效率。
提出了刚弹液耦合多体航天器物理实验系统设计方案。应用连通器原理设计液体燃料箱系统,采用齿轮传动系统同步驱动一对反对称安装的快速机动天线。设计方案确保系统相对磁浮台转轴不产生偏心,使磁浮台能正常工作。通过选择不同控制、测量、激振组合,该实验系统可以用于研究刚弹液耦合系统的动力学特性、中心体姿态机动及多目标姿态跟踪控制等多类问题。
The large angle maneuver is one of the key technologies for spacecraft attitude control, which has been the focus of attention. The paper systematically studies large angle maneuver control of spacecraft in the presence of mass parameter uncertainties
Jourdain’s principle is employed to derive the dynamic equations of multi-body spacecraft with flexible appendages, and the rotation angle of the end of antenna arm caused by the deformations is considered, which effects the tracking accuracy of the antenna. Introducing an angular velocity constraint and an angular constraint, two methods are proposed to compute the reference attitude profiles of the camera and antenna, respectively.
To simplify the control design problem, this paper derives the desired inverse system, which can convert the attitude tracking problem into the regulator problem. Based on the desired inverse system and sliding mode control, a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance. By Lyapunov stablity theory, the closed loop system stability can be achieved. Base on the inverse system method and H_∞control method,μsynthesis technique, the paper designs two nonlinear robust controllers. The controller consists of a linear robust controller and a PD controller. The PD controller avoids the singular problem in the design of Mixed Sensitivity Robust Control.
Based on radial basis function neural network and echo state network, two neural controllers are developed, respectively. The RBF controller consists of a radial basis function network and a robust controller. The radial basis function network can compensate the parameter uncertainties and external disturbances, and a robust controller can compensate RBFN approximation error and realize the anticipative stability and performance properties. Utilizing the finite time convergent property of terminal sliding mode, an online learning algorithm based on TSM for updating all the parameters of the RBFN is derived, which improves tracking performance of the controller. Simulation results demonstrate the good tracking performance of the control scheme. The robust controller based on echo state network is developed for the attitude tracking. The genetic algorithm is employed to optimize the ESN's primary parameters, which removes the difficulty of choosing the ESN parameters. This control approach requires no prior knowledge about the dynamic model.
The paper designs a physical simulation experiment system for the rigid-flexible-fluid coupling multi-body spacecraft. Using law of equilibrium in connected vessels, the liquid fuel tank system is designed. The couple of rapid maneuver antennas are drived by planet gear synchronous driving apparatus, which are antisymmetric about the axis of magnetic-bear simulator. The design avoids the eccentric load, and ensures that the magnetic-bear simulator can work well. By choosing controllers, sensors and exciters, many experiment strategies can be realized, including the dynamic characteristics of the rigid-flexible-fluid coupling multi-body spacecraft, the large angle maneuver of the center body of spacecraft and multi-target attitude tracking control, and so on.
引文
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