摘要
对欠驱动航天器的姿态控制进行了研究,设计了一种可适于多种情况的分段解耦控制器,用分段解耦的方法解决了欠驱动控制系统输入输出维数不统一的问题。由动力学方程中的耦合项建立姿态控制系统的状态微分方程。为降低失效轴角速度对系统的影响,先实现控制系统中动力学部分的镇定,再对运动学部分进行解耦。在每个分段中设计了一个比例微分(PD)控制器,设计了角速度镇定、俯仰角镇定、滚动角镇定、俯仰角收敛至π/2、偏航角镇定和三轴稳定六个分段控制器,通过控制器间的逐个切换控制,将状态微分方程中的状态变量逐渐收敛至零,实现欠驱动姿态控制系统的渐进稳定。数学仿真验证了所设计控制算法的有效性。该控制器设计简单,便于工程实现,选取适当的参数后可保证系统状态变量的渐近稳定性。
The attitude control of under^actuated spacecraft was studied in this paper. The subsection decoupling controller which could be suitable for various conditions was designed, which solved the difference of input and output dimension of the control system by using subsection decoupling method. The state differential equation of the attitude control system was established by coupling items in dynamic equation. To reduce the effect of angular velocity of failure axis on the system, first the dynamic parts in the control system were stabilized, and then the kinematic parts were decoupled. A PD controller was designed in each subsection, which had total six controllers for angular velocity stabilization, pitch angle stabilization, roll angle stabilization, pitch angle convergence to tc / 2, yaw angle stabilization and thre^axis stabilization. By switching the controller one by one, the state variables in the state differential equation were converged to zero. So the attitude control system could be asymptomatic stabilized. The numerical simulation proved the effectiveness of the control algorithm designed. The design of the controller was simple and easy to realize in engineering. The asymptomatic stabilization of the state variables of the system would be guaranteed after the applicable parameters having been selected.
出处
《上海航天》
CSCD
2017年第2期106-111,共6页
Aerospace Shanghai
基金
上海市青年科技启明星计划资助(17QB1401400)
关键词
欠驱动航天器
姿态控制
分段解耦
维数
耦合
微分方程
切换控制
渐进稳定
under actuated spacecraft
attitude control
subsection decoupling
dimension
coupling
differential equation
switch control
asymptotically stability
