对失控航天器在轨服务的自适应滑模控制器设计

doi:10.7527/S1000-6893.2014.0185

电子与控制

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

对失控航天器在轨服务的自适应滑模控制器设计

陈炳龙, 耿云海

哈尔滨工业大学卫星技术研究所, 哈尔滨 150080

收稿日期:2014-05-05 修回日期:2014-08-14 出版日期:2015-05-15 发布日期:2014-08-15
通讯作者: 唐勇Tel.: 0451-86413440-8408 E-mail: gengyh@hit.edu.cn E-mail:gengyh@hit.edu.cn
作者简介:陈炳龙男, 博士研究生。主要研究方向: 航天器导航算法与控制算法。 Tel: 0451-86402357-8503 E-mail: chenbinglonghit@163.com;耿云海男, 博士, 教授, 博士生导师。主要研究方向: 航天器姿轨控系统设计、导航制导与控制系统设计。 Tel: 0451-86413440-8408 E-mail: gengyh@hit.edu.cn
基金资助:
国家自然科学基金 (61104026)

Adaptive sliding mode controller design for on-orbit servicing to uncontrollable spacecraft

CHEN Binglong, GENG Yunhai

Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150080, China

Received:2014-05-05 Revised:2014-08-14 Online:2015-05-15 Published:2014-08-15
Supported by:
National Natural Science Foundation of China (61104026)

摘要/Abstract

摘要：

为实现对自由翻滚的失控目标航天器进行在轨服务,基于二阶滑模控制算法设计了相对位置与姿态耦合的自适应控制器。考虑相对转动对相对平动的耦合作用,建立了两航天器对接端口间相对位置与姿态耦合的动力学模型,并在此基础上设计了自适应Super twisting控制器,以减弱已知界限的有界干扰所产生的震颤效应,使闭环系统在有限时间内收敛到平衡点。利用李雅普诺夫方法证明了有界干扰下的闭环系统稳定性,并对收敛时间的上界进行了估计。仿真结果表明,与Super twisting算法相比,所设计的自适应二阶滑模控制器对参数不确定性及线性增长有界干扰具有较强的鲁棒性,且控制精度满足在轨服务的任务需求。

关键词: 航天器在轨服务, 滑模控制, 自适应控制, 相对平动, 相对转动, 有限时间收敛, 鲁棒性

Abstract:

A relative position and attitude coupled adaptive controller is designed on the basis of second-order sliding mode control algorithm. It is proposed for on-orbit servicing on the free tumbling uncontrollable target spacecraft. Considering the coupled effect of relative rotation on relative translation, a relative position and attitude coupled dynamic model is derived for two docking ports on different spacecraft. Based on this coupled relative motion model, an adaptive super twisting controller is proposed to attenuate the chattering phenomenon caused by bounded perturbation with known upper bound. It makes the closed-loop system converge to the equilibrium point in finite time. Under the condition of limited disturbances, the closed-loop system is proved to be steady by Lyapunov method and the supremum of convergence time is estimated. By comparison with the super twisting method, numerical simulations are performed to validate strong robustness of the designed adaptive second-order sliding mode controller for parameter uncertainty and linearly growing bounded disturbances. The control accuracy is high enough for the requirement of on-orbit servicing mission.

Key words: spacecraft on-orbit servicing, sliding mode control, adaptive control, relative translation, relative rotation, finite time convergence, robustness

中图分类号:

V448.2

陈炳龙, 耿云海. 对失控航天器在轨服务的自适应滑模控制器设计[J]. 航空学报, 2015, 36(5): 1639-1649.

CHEN Binglong, GENG Yunhai. Adaptive sliding mode controller design for on-orbit servicing to uncontrollable spacecraft[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(5): 1639-1649.

参考文献

[1] Long A M, Richards M G, Hastings D E. On-orbit servicing: a new value proposition for satellite design and operation[J]. Journal of Spacecraft and Rockets, 2007, 44(4): 964-976.
[2] Komanduri A S, Bindel D, Da F M. Guidance and control strategies for a spacecraft to rendezvous with a non-cooperative spacecraft[C]//Proceeding of the 61st International Astronautical Congress. Paris, France: International Astronautical Federation, 2010: 5982-5991.
[3] Segal S, Gurfil P. Effect of kinematic rotation-translation coupling on relative spacecraft translational dynamics[J]. Journal of Guidance, Control, and Dynamics, 2009, 32(3): 1045-1050.
[4] Utkin V I, Poznyak A S. Adaptive sliding mode control with application to super-twist algorithm: equivalent control method[J]. Automatica, 2013, 49(1): 39-47.
[5] Shtessel Y, Taleb M, Plestan F. A novel adaptive-gain supertwisting sliding mode controller: methodology and application[J]. Automatica, 2012, 48(5): 759-769.
[6] Jia J, Yao Y, Ma K M. Continuous optimal terminal proximity guidance algorithm for autonomous rendezvous and docking[J]. Information Technology Journal, 2013, 12(5): 1011-1017.
[7] Gao X Y, Teo K L, Duan G R. An optimal control approach to robust control of nonlinear spacecraft rendezvous system with θ-D technique[J]. International Journal of Innovative Computing, Information and Control, 2013, 9(5): 2099-2110.
[8] Utkin V. About second order sliding mode control, relative degree, finite-time convergence and disturbance rejection[C]//Proceeding of 2010 11th International Workshop on Variable Structure Systems. Piscataway, NJ: IEEE Press, 2010: 528-533.
[9] Wilfrid P, Jean P B. Sliding mode control in engineering[M]. New York: Marcel Dekker, 2002: 51-99.
[10] Gonzalez T, Moreno J A, Fridman L. Variable gain super-twisting sliding mode control[J]. IEEE Transactions on Automatic Control, 2012, 57(8): 2100-2105.
[11] Levant A. Sliding order and sliding accuracy in sliding mode control[J]. International Journal of Control, 1993, 58(6): 1247-1263.
[12] Levant A. Principles of 2-sliding mode design[J]. Automatica, 2007, 43(4): 576-586.
[13] Pukdeboon C. Second-order sliding mode controllers for spacecraft relative translation[J]. Applied Mathematical Sciences, 2012, 6(100): 4965-4979.
[14] Pan H, Kapila V. Adaptive nonlinear control for spacecraft formation flying with coupled translational and attitude dynamics[C]//Proceeding of the 40th IEEE Conference on Decision and Control. Piscataway, NJ: IEEE Press, 2001: 2057-2062.
[15] Segal S, Gurfil P. Shape-generalized modeling of relative spacecraft translation, AIAA-2009-6093[R]. Reston: AIAA, 2009.
[16] Moreno J A. A linear framework for the robust stability analysis of a generalized super-twisting algorithm[C]//Proceeding of the 2009 6th International Conference on Electrical Engineering, Computing Science and Automatic Control. Piscataway, NJ: IEEE Press, 2009: 1-6.
[17] Lu W, Geng Y H, Chen X Q, et al. Coupled control of relative position and attitude for on-orbit servicing spacecraft with respect to target[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(5): 857-865 (in Chinese). 卢伟, 耿云海, 陈雪芹, 等. 在轨服务航天器对目标的相对位置和姿态耦合控制[J]. 航空学报, 2011, 32(5): 857-865.

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

对失控航天器在轨服务的自适应滑模控制器设计

Adaptive sliding mode controller design for on-orbit servicing to uncontrollable spacecraft

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	苏子康, 徐忠楠, 李春涛, 陈海通, 王宏伦. 伸缩套臂式无人机空基回收建模与对接控制[J]. 航空学报, 2023, 44(1): 326315-326315.
[2]	杨晓伟, 葛曜文, 邓文翔, 姚建勇, 周宁. 航空发动机导叶控制机构作动筒主动容错控制[J]. 航空学报, 2022, 43(9): 625464-625464.
[3]	吴宝海, 张阳, 郑志阳, 张莹, 张思琪. 数控加工进给速度参数优化研究现状与展望[J]. 航空学报, 2022, 43(4): 525467-525467.
[4]	石忠佼, 朱化杰, 赵良玉, 刘志杰. 考虑舵机动力学的旋转弹自适应解耦控制[J]. 航空学报, 2022, 43(3): 325068-325068.
[5]	吴慈航, 闫建国, 钱先云, 郭一鸣, 屈耀红. 受油机指定时间姿态稳定控制[J]. 航空学报, 2022, 43(2): 324996-324996.
[6]	万兵, 苏析超, 郭放, 韩维, 梁勇. 不确定性工时下甲板作业的前摄性鲁棒调度[J]. 航空学报, 2022, 43(12): 325971-325971.
[7]	颜黎明, 赵冬冬, 焦宁飞. 基于鲁棒模型的航空交流感应电机预测转矩控制[J]. 航空学报, 2021, 42(9): 324700-324700.
[8]	魏科鹏, 胡健, 姚建勇, 邢浩晨, 乐贵高. 航空机电作动器神经网络快速终端滑模控制[J]. 航空学报, 2021, 42(6): 624540-624540.
[9]	贾庆轩, 段嘉琪, 陈钢. 机器人在轨装配无标定视觉伺服对准方法[J]. 航空学报, 2021, 42(6): 424063-424063.
[10]	黄旭星, 李爽, 杨彬, 孙盼, 刘学文, 刘新彦. 人工智能在航天器制导与控制中的应用综述[J]. 航空学报, 2021, 42(4): 524201-524201.
[11]	王雨辰, 林德福, 王伟, 纪毅. 大跨域条件下的自适应滚转稳定容错控制方法[J]. 航空学报, 2021, 42(3): 324368-324368.
[12]	李帅聪, 何睿智, 汤国建, 敖鹏. 基于滑模控制的剖面跟踪制导律[J]. 航空学报, 2020, 41(S2): 724578-724578.
[13]	王晶, 顾维博, 窦立亚. 基于Leader-Follower的多无人机编队轨迹跟踪设计[J]. 航空学报, 2020, 41(S1): 723758-723758.
[14]	田磊, 赵启伦, 董希旺, 李清东, 任章. 异构多智能体系统分组输出时变编队跟踪控制[J]. 航空学报, 2020, 41(7): 323727-323727.
[15]	张普, 薛惠锋, 高山. 基于分布式自适应的多智能体容错一致性控制[J]. 航空学报, 2020, 41(3): 323539-323539.