航空学报 > 2013, Vol. 34 Issue (8): 1906-1914   doi: 10.7527/S1000-6893.2013.0322

基于输入成形的挠性航天器自适应滑模控制

苗双全1,2, 丛炳龙1,2, 刘向东1,2   

  1. 1. 北京理工大学 自动化学院, 北京 100081;
    2. 北京理工大学 复杂系统智能控制与决策重点实验室, 北京 100081
  • 收稿日期:2012-10-23 修回日期:2013-01-04 出版日期:2013-08-25 发布日期:2013-01-15
  • 通讯作者: 刘向东 E-mail:xdliu@bit.edu.cn
  • 作者简介:苗双全 男,硕士研究生。主要研究方向:航天器挠性振动抑制和姿态控制。Tel:010-68912460 E-mail:miao.sq@163.com;丛炳龙 男,博士研究生。主要研究方向:航天器姿态控制和非线性控制。Tel:010-68912460 E-mail:cbl@bit.edu.cn;刘向东 男,博士,教授,博士生导师。主要研究方向:伺服控制和航天器姿态控制。Tel:010-68912460 E-mail:xdliu@bit.edu.cn
  • 基金资助:

    国家自然科学基金(61104153);国家"973"计划(2012CB720000)

Adaptive Sliding Mode Control of Flexible Spacecraft on Input Shaping

MIAO Shuangquan1,2, CONG Binglong1,2, LIU Xiangdong1,2   

  1. 1. School of Automation, Beijing Institute of Technology, Beijing 100081, China;
    2. Key Laboratory for Intelligent Control & Decision of Complex Systems, Beijing Institute of Technology, Beijing 100081, China
  • Received:2012-10-23 Revised:2013-01-04 Online:2013-08-25 Published:2013-01-15
  • Supported by:

    National Natural Science Foundation of China (61104153);National Basic Research Program of China (2012CB720000)

摘要:

针对大型挠性航天器姿态机动过程中的振动抑制问题,提出一种输入成形(IS)与自适应滑模控制(ASMC)相结合的控制策略。该控制策略利用输入成形抑制标称挠性系统的残余振动,并通过滑模控制保证实际系统在参数不确定性和外部干扰的影响下实现对标称系统的跟踪,解决了输入成形对参数不确定性和外部干扰的敏感性问题。进一步采用自适应技术去除了滑模切换增益对参数不确定性和干扰上界的先验性要求。仿真结果表明,在参数不确定性和外界干扰的影响下,该控制方法能够保证在完成姿态机动的同时抑制航天器的挠性振动。

关键词: 输入成形, 滑模控制, 自适应控制, 挠性航天器, 振动抑制

Abstract:

In order to deal with vibration suppression in the process of a large flexible spacecraft attitude maneuver, this paper puts forward a method which combines input shaping (IS) with adaptive sliding mode control (ASMC). This strategy suppresses the flexible nominal system residual vibration by input shaping, and the sliding mode control ensures an actual system tracking the nominal system under the influence of parameter uncertainties and external disturbances, solving the problem of the sensitivity of input shaping to parameter uncertainty and external disturbance. Furthermore, when the adaptive law for the switch gain is utilized for the sliding mode, the prior knowledge of the upper bounds on the external disturbance and parameter uncertainty is not required for switching gain tuning. Finally, simulation results show that the proposed control method can ensure the desired attitude maneuver and residual vibration suppression under parameter uncertainty and external disturbance.

Key words: input shaping, sliding mode control, adaptive control, flexible spacecraft, vibration suppression

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