摘要
考虑带可控机械臂绳系卫星的面内运动,研究其释放阶段的子星位置和姿态控制问题.系绳释放时,通过调整机械臂转角实现子星姿态的无动量轮控制.控制律设计分为两步:首先,基于非线性最优控制理论,研究在状态和控制约束下的子星位置及其姿态控制,通过二阶Legendre伪谱法求解开环最优控制律;其次,以开环解为参考,基于轨迹跟踪思想设计反馈控制器,其中反馈控制增益由开环最优控制算法及数值插值确定.最后通过算例研究验证了该方法的有效性.
The paper presents an investigation on the position and attitude control problem concerning the in- plane motions of a tethered sub-satellite, the attitude of which is controlled by using a controllable arm instead of momentum-wheel actuation in the phase of tether deployment. There are two main steps in the design of the controller. Firstly, a study accounting for the state-control constraints is presented on the nonlinear optimM control problems of the position and attitude of the sub-satellite, the open-loop solution of which is determined by using the Legendre pseudo-spectrM algorithm in the second-order form. Secondly, a feedback control law is derived to track the reference trajectory prescribed by the open-loop control law, and the gains of online feedback control are determined by interpolating a open-loop optimal control. The case studies in the strategy sequence of gain data pre-computed via the Mgorithm of paper well demonstrate the performance of the proposed
出处
《力学学报》
EI
CSCD
北大核心
2012年第2期408-414,共7页
Chinese Journal of Theoretical and Applied Mechanics
基金
国家自然科学基金项目(11002068,50875124)
中国博士后科学基金项目
江苏省博士后科研资助计划基金项目
南京航空航天大学基本科研业务费专项科研项目(NS2010024)资助~~
关键词
绳系卫星
可控臂
释放
姿态
跟踪控制
tethered sub-satellite, controllable arm, deployment, attitude, tracking control
