基于势函数法的航天器自主姿态机动控制

doi:CNKI:11-1929/V.20101111.0915.033

电子与自动控制

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基于势函数法的航天器自主姿态机动控制

郭延宁, 李传江, 马广富

哈尔滨工业大学航天学院, 黑龙江哈尔滨 150001

收稿日期:2010-05-31 修回日期:2010-06-24 出版日期:2011-03-25 发布日期:2011-03-24
通讯作者: Tel.: 0451-86402108 E-mail: magf@hit.edu.cn E-mail:magf@hit.edu.cn
作者简介:郭延宁(1985- ) 男,博士研究生。主要研究方向:航天器姿态确定与姿态机动控制,控制力矩陀螺奇异分析及操纵律设计。 E-mail: guoyn@hit.edu.cn 李传江(1978- ) 男,博士,副教授,硕士生导师。主要研究方向:航天器姿态控制,最优控制,非线性控制等。 Tel: 0451-86402726 E-mail: chuanjiangli@gmail.com 马广富(1963- ) 男,博士,教授,博士生导师。主要研究方向:航天器姿态控制,挠性航天器主动振动控制,最优控制,非线性控制等。 Tel: 0451-86402108 E-mail: magf@hit.edu.cn
基金资助:
国家自然科学基金(60774062);哈尔滨工业大学优秀青年教师培养计划(HITQNJS.2008.006);哈尔滨市科技创新人才研究专项资金(2010RFQXG029)

Spacecraft Autonomous Attitude Maneuver Control by Potential Function Method

GUO Yanning, LI Chuanjiang, MA Guangfu

School of Astronautics, Harbin Institute of Technology, Harbin 150001, China

Received:2010-05-31 Revised:2010-06-24 Online:2011-03-25 Published:2011-03-24

摘要/Abstract

摘要： 主要研究存在禁止姿态的航天器自主姿态机动控制问题。首先,给出航天器的动力学和运动学模型,利用四元数描述航天器与机动姿态和禁止姿态的姿态偏差,用相应的欧拉转角描述不同姿态间的距离。为利用势函数完成禁止姿态回避,结合航天器的运动情况设计排斥势函数(RPF)存在条件后,根据禁止姿态最小允许夹角构造一种新的排斥势函数。接着,利用排斥及吸引势函数(APF)的共同作用得到虚拟指令角速度,利用反步法得到自主姿态机动控制器。此外,针对控制受限问题给出控制参数自适应规则,并设计回避势函数局部极小值情况的切换控制器。最后,通过对不同禁止姿态区域的数学仿真,验证了设计方法的有效性和通用性。

关键词: 势函数, 自主姿态机动, 禁止姿态回避, 反步法, 控制受限

Abstract: This article investigates the spacecraft autonomous attitude maneuver control in the presence of forbidden attitude. First, the dynamical and kinematic equations are introduced, in which a quaternion is adopted to represent the attitude deviation between the spacecraft attitude and maneuver or the forbidden attitude, with the corresponding Euler rotation angles describing the distance of various attitudes. Second, in order to avoid the forbidden attitude, the existence conditions for the repulsive potential function (RPF) are exploited by incorporating the spacecraft motions, and a novel RPF is proposed according to the minimum separation angle allowed for the forbidden attitude. The RPF as well as the attractive potential function (APF) are employed subsequently to derive a virtual angular velocity command. An autonomous attitude maneuver controller is obtained by means of backstepping. Meanwhile, some self-adaptive rules for the control parameters are developed to deal with control saturation. In addition, one switch controller is proposed to overcome the local minima of the potential function. Finally, numerical results for different forbidden attitude regions are presented to show the effectiveness and generality of the proposed method.

Key words: potential function, autonomous attitude maneuver, forbidden attitude avoidance, backstepping, control saturation

中图分类号:

V488.22

郭延宁, 李传江, 马广富. 基于势函数法的航天器自主姿态机动控制[J]. 航空学报, 2011, 32(3): 457-464.

GUO Yanning, LI Chuanjiang, MA Guangfu. Spacecraft Autonomous Attitude Maneuver Control by Potential Function Method[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(3): 457-464.

参考文献

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E-mail：hkxb@buaa.edu.cn

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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

基于势函数法的航天器自主姿态机动控制

Spacecraft Autonomous Attitude Maneuver Control by Potential Function Method

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