基于全驱系统方法的组合航天器位姿自适应预设性能控制

doi:10.7527/S1000-6893.2023.28837

全驱系统理论及其在航空航天领域的应用专栏

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基于全驱系统方法的组合航天器位姿自适应预设性能控制

段广全¹, 刘国平¹^,²()

^1.哈尔滨工业大学控制理论与制导技术研究中心，哈尔滨 150001
^2.南方科技大学控制科学与技术研究中心，深圳 518055

收稿日期:2023-04-07 修回日期:2023-05-17 接受日期:2023-08-11 出版日期:2024-01-15 发布日期:2023-08-24
通讯作者: 刘国平 E-mail:liugp@sustech.edu.cn
基金资助:
国家自然科学基金(62188101)

Adaptive prescribed control of position and attitude of combined spacecraft based on fully actuated system approach

Guangquan DUAN¹, Guoping LIU¹^,²()

^1.Center for Control Theory and Guidance Technology，Harbin Institute of Technology，Harbin 150001，China
^2.Center for Control Science and Technology，Southern University of Science and Technology，Shenzhen 518055，China

Received:2023-04-07 Revised:2023-05-17 Accepted:2023-08-11 Online:2024-01-15 Published:2023-08-24
Contact: Guoping LIU E-mail:liugp@sustech.edu.cn
Supported by:
National Natural Science Foundation of China(62188101)

摘要/Abstract

摘要：

针对非合作航天器被成功捕获后所形成的组合航天器的位姿控制任务，考虑系统中含有的未知扰动的影响，设计了一种基于全驱系统方法的自适应预设性能控制器。根据欧拉姿态动力学方程和轨道动力学方程，建立了简洁的组合航天器位姿动力学方程；通过引入预设性能函数，对组合航天器位姿误差的瞬态和稳态性能进行约束；进一步应用全驱系统方法，对带有未知扰动的组合航天器位姿误差系统设计自适应预设性能控制器；此外，通过构造Lyapunov函数证明了所提出的控制器的稳定性；最后，数值仿真结果和半物理仿真实验结果表明，在所设计的控制器作用下，组合航天器能够实现精确的位姿控制，同时系统的状态误差始终收敛于预设性能包络内，验证了所设计控制器的有效性和实用性。

关键词: 全驱系统, 组合航天器, 自适应控制, 预设性能, 位姿控制, 半物理仿真

Abstract:

An adaptive prescribed performance controller based on the fully actuated system approach is designed for the position and attitude control of the combined spacecraft formed after the successful capture of the non-cooperative spacecraft， considering the influence of unknown disturbance in the combined spacecraft system. A combined spacecraft position and attitude dynamics equation is established based on the Euler's attitude dynamics equation and the orbit dynamics model. The transient and steady-state performance of the combined spacecraft position and attitude error is constrained by introducing a prescribed performance function. Furthermore， the adaptive prescribed performance controller is designed for the combined spacecraft state error system with unknown disturbance by applying the fully actuated system approach. In addition， the proposed adaptive prescribed performance controller is proved by constructing the Lyapunov function. Finally， the numerical simulation results based on the combined spacecraft system model and the experimental results obtained from the semi-physical simulation platform show that under the action of the designed controller， the combined spacecraft can achieve accurate position and attitude control and the state error of the system is always within the prescribed performance envelope， which verifies the effectiveness and practicality of the designed controller.

Key words: fully actuated system, combined spacecraft, adaptive control, prescribed performance, position and attitude control, semi-physical simulation

中图分类号:

V448.2

段广全, 刘国平. 基于全驱系统方法的组合航天器位姿自适应预设性能控制[J]. 航空学报, 2024, 45(1): 628837-628837.

Guangquan DUAN, Guoping LIU. Adaptive prescribed control of position and attitude of combined spacecraft based on fully actuated system approach[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628837-628837.

图/表 10

表 1

仿真参数

$I = d i a g (16,24,18) k g ⋅ m 2, m = 80 k g, μ = 1$
$ρ φ, 0 = 1$	$ρ θ, 0 = 1.4$	$ρ ψ, 0 = 1$
$ρ φ, ∞ = 0.01$	$ρ θ, ∞ = 0.01$	$ρ ψ, ∞ = 0.01$
$γ φ = 0.5$	$γ θ = 0.3$	$γ ψ = 0.4$
$η φ, m i n = 1$	$η θ, m i n = 1.2$	$η ψ, m i n = 1.1$
$η φ, m a x = 1$	$η θ, m a x = 1.2$	$η ψ, m a x = 1.1$
$l φ = 0.5$	$l θ = 0.45$	$l ψ = 0.4$
$φ (0) = 1$	$θ (0) = 1$	$ψ (0) = - 0.8$
$φ ˙ (0) = 0.02$	$θ ˙ (0) = 0.04$	$ψ ˙ (0) = 0.05$
$φ r = 0.5$	$θ r = 0.4$	$ψ r = 0.2$
$ρ x, 0 = 80$	$ρ y, 0 = 80$	$ρ z, 0 = 100$
$ρ x, ∞ = 0.5$	$ρ y, ∞ = 0.5$	$ρ z, ∞ = 0.5$
$γ x = 0.035$	$γ y = 0.035$	$γ z = 0.05$
$η x, m i n = 1$	$η y, m i n = 1$	$η z, m i n = 1$
$η x, m a x = 1$	$η y, m a x = 1$	$η z, m a x = 1$
$l x = 5$	$l y = 8$	$l z = 6$
$x (0) = 40$	$y (0) = 60$	$z (0) = - 60$
$x ˙ (0) = 0.03$	$y ˙ (0) = 0.02$	$z ˙ (0) = 0.3$
$x r = 1$	$y r = 1$	$z r = 1$
$u d φ 0 = 0.1$	$u d θ 0 = 0.1$	$u d ψ 0 = 0.1$
$u d x 0 = 0.1$	$u d y 0 = 0.1$	$u d z 0 = 0.1$

表 1

图 1

图 2

图 3

图 4

图 5

图 6

表 2

实验参数

$l * = 3.394 k g ⋅ m 2, m * = 40 k g, μ * = 0.01$
$ρ x *, 0 = 3$	$ρ y *, 0 = 3$	$ρ α *, 0 = 3$
$ρ x *, ∞ = 0.2$	$ρ y *, ∞ = 0.2$	$ρ α *, ∞ = 0.2$
$γ x * = 0.01$	$γ y * = 0.01$	$γ α * = 0.01$
$η x *, m i n = 1$	$η y *, m i n = 1$	$η α *, m i n = 1$
$η x *, m a x = 1$	$η y *, m a x = 1$	$η α *, m a x = 1$
$l x * = 0.008$	$l y * = 0.008$	$l α * = 0.008$
$x * (0) = 1.5$	$y * (0) = - 2.3$	$α * (0) = 0.25$
$x ˙ * (0) = - 0.025$	$y ˙ * (0) = 0.029$	$α ˙ * (0) = - 0.074$
$β d x * * = - 0.5$	$β d y * * = - 1$	$β d α * * = 0$

表 2

图 7

图 8

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基于全驱系统方法的组合航天器位姿自适应预设性能控制

Adaptive prescribed control of position and attitude of combined spacecraft based on fully actuated system approach

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