基于反步法的挠性航天器姿态镇定

doi:CNKI:11-1929/V.20110412.1530.004

电子与自动控制

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

基于反步法的挠性航天器姿态镇定

王翔宇¹, 丁世宏², 李世华¹

1. 东南大学自动化学院, 江苏南京 210096;
2. 江苏大学电气信息工程学院, 江苏镇江 212013

收稿日期:2010-11-29 修回日期:2011-02-22 出版日期:2011-08-25 发布日期:2011-08-19
通讯作者: 李世华,Tel: 025-83793785 E-mail: lsh@seu.edu.cn E-mail:lsh@seu.edu.cn
作者简介:王翔宇(1987-) 男, 博士研究生。主要研究方向: 飞行器控制, 机械系统控制等。 E-mail: WXYulx13@gmail.com; 丁世宏(1983-) 男, 博士, 讲师。主要研究方向: 非线性系统控制和飞行器姿态镇定与跟踪。 E-mail: dsh@ujs.edu.cn; 李世华(1975-) 男, 博士, 教授, 博士生导师。主要研究方向: 复杂系统的非线性控制, 飞行器控制, 交流伺服系统控制等。 Tel: 025-83793785 E-mail: lsh@seu.edu.cn
基金资助:
国家自然科学基金(61074013);高等学校博士学科点专项科研基金(20090092110022);微惯性仪表与先进导航技术教育部重点实验室开放基金(201004)

Stabilization of Flexible Spacecraft Attitude Based on Backstepping Control

WANG Xiangyu¹, DING Shihong², LI Shihua¹

1. School of Automation, Southeast University, Nanjing 210096, China;
2. College of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China

Received:2010-11-29 Revised:2011-02-22 Online:2011-08-25 Published:2011-08-19

摘要/Abstract

摘要： 利用反步法研究了一类挠性航天器的姿态镇定问题,提出一种基于模态观测器的反步控制设计方案。首先,构造挠性模态观测器对挠性模态变量及其变化率进行观测;其次,将角速度看成虚拟控制器,设计虚拟角速度镇定运动学模型与挠性模态变量组成的子系统;最后,利用反步法设计了一种非线性控制器使得角速度能够跟踪虚拟角速度,从而实现姿态镇定的目标。当不存在外部扰动作用时,设计的控制器能够渐近镇定挠性航天器姿态控制系统。当存在有界扰动时,在控制器作用下,姿态控制系统的状态能够在有限时间内收敛到一个包含原点的可调小区域中,该区域的边界由控制器参数决定。数字仿真结果验证了所提方法的有效性。

关键词: 挠性航天器, 姿态镇定, 反步法, 模态观测器, 扰动分析

Abstract: By utilizing the backstepping control technique, a control scheme with a flexible modal observer is deduced to stabilize a class of flexible spacecraft. First, a flexible modal observer is developed to recover the flexible variables and their rates. Second, regarding the angular velocities as the virtual controllers, virtual angular velocities are presented to stabilize the subsystem composed of a kinematic model and the flexible variables. Finally, based on the backstepping control technique, a nonlinear attitude controller is designed to force the angular velocities to track the virtual angular velocities, such that the stabilization of a flexible spacecraft is achieved. In the absence of external disturbances, the proposed controller can asymptotically stabilize a flexible spacecraft attitude control system. In the presence of bounded disturbances, the states will be stabilized to an adjustable region including the origin in finite time, the bounds of which are determined by controller parameters. Numerical simulation results show the effectiveness of the proposed method.

Key words: flexible spacecraft, attitude stabilization, backstepping control, modal observer, disturbance analysis

中图分类号:

V448.2

王翔宇, 丁世宏, 李世华. 基于反步法的挠性航天器姿态镇定[J]. 航空学报, 2011, 32(8): 1512-1523.

WANG Xiangyu, DING Shihong, LI Shihua. Stabilization of Flexible Spacecraft Attitude Based on Backstepping Control[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(8): 1512-1523.

参考文献

[1] Liu S W, Singh T. Robust time-optimal control of flexible structures with parametric uncertainty[J]. ASME Journal of Dynamic Systems, Measurement and Control, 1997, 119(4): 743-748.

[2] Sharma R, Tewari A. Optimal nonlinear tracking of spacecraft attitude maneuvers[J]. IEEE Transactions on Control Systems Technology, 2004, 12(5): 677-682.

[3] Shahravi M, Kabganian M, Alasty A. Adaptive robust attitude control of a flexible spacecraft[J]. International Journal of Robust and Nonlinear Control, 2006, 16(6): 287-302.

[4] Hu Q L. Robust adaptive backstepping attitude and vibration control with L₂-gain performance for flexible spacecraft under angular velocity constraint[J]. Journal of Sound and Vibration, 2009, 327(3/4/5): 285-298.

[5] 姜野, 胡庆雷, 马广富. 控制输入饱和的挠性航天器姿态机动智能鲁棒控制[J]. 宇航学报, 2009, 30(1): 188-192. Jiang Ye, Hu Qinglei, Ma Guangfu. Intelligent adaptive variable structure attitude maneuvering control for flexible spacecraft with actuator saturation[J]. Journal of Astronautics, 2009, 30(1): 188-192. (in Chinese)

[6] 朱良宽, 马广富, 胡庆雷. 挠性航天器鲁棒反步自适应姿态机动及主动振动抑制[J]. 振动与冲击, 2009, 28(2): 132-136. Zhu Liangkuan, Ma Guangfu, Hu Qinglei. Attitude maneuvering and vibration damping of flexible spacecraft via robust adaptive backstepping technique[J]. Journal of Vibration and Shock, 2009, 28(2): 132-136. (in Chinese)

[7] Jin E D, Sun Z W. Robust attitude tracking control of flexible spacecraft for achieving globally asymptotic stability[J]. International Journal of Robust and Nonlinear Control, 2009, 19(11): 1201-1223.

[8] Hu Q L, Cao J, Zhang Y Z. Robust backstepping sliding mode attitude tracking and vibration damping of flexible spacecraft with actuator dynamics[J]. Journal of Aerospace Engineering, 2009, 22(2): 139-152.

[9] Hu Q L, Ma G F. Variable structure control and active vibration suppression of flexible spacecraft during attitude maneuver[J]. Aerospace Science and Technology, 2005, 9(4): 307-317.

[10] 靳永强, 刘向东, 王伟, 等. 基于模态观测器的挠性航天器姿态控制[J]. 宇航学报, 2008, 29(3): 844-848. Jin Yongqiang, Liu Xiangdong, Wang Wei, et al. Sliding mode attitude control for flexible spacecraft based on modal observer[J]. Journal of Astronautics, 2008, 29(3): 844-848. (in Chinese)

[11] Khalil H K. 非线性系统[M]. 朱义胜, 董辉, 李作洲, 等, 译. 3版. 北京: 电子工业出版社, 2005: 437-449. Khalil H K. Nonlinear system[M]. Zhu Yisheng, Dong Hui, Li Zuozhou, et al., translated. 3rd ed. Beijing: Publishing House of Electronics Industry, 2005: 437-449. (in Chinese)

[12] Krstic M, Tsiotras P. Inverse optimal stabilization of a rigid spacecraft[J]. IEEE Transactions on Automatic Control, 1999, 44(5): 1042-1049.

[13] Kristiansen R, Nichlasson P J. Satellite attitude control by quaternion-based backstepping//Proceedings of American Control Conference. 2005: 907-912.

[14] 郑敏捷, 徐世杰. 欠驱动航天器姿态控制系统的退步控制设计方法[J]. 宇航学报, 2006, 27(5): 947-951. Zheng Minjie, Xu Shijie. Backstepping control for attitude control system of an underactuated spacecraft[J]. Journal of Astronautics, 2006, 27(5): 947-951. (in Chinese)

[15] Li S H, Ding S H, Li Q. Global set stabilization of the spacecraft attitude control problem based on quaternion[J]. International Journal of Robust and Nonlinear Control, 2010, 20(1): 84-105.

[16] Ding S H, Li S H. Stabilization of the attitude of a rigid spacecraft with external disturbances using finite-time control techniques[J]. Aerospace Science and Technology, 2009, 13(4-5): 256-265.

[17] Di Gennaro S. Output attitude tracking for flexible spacecraft[J]. Automatica, 2002, 38(10): 1719-1726.

[18] Di Gennaro S. Output stabilization of flexible spacecraft with active vibration suppression[J]. IEEE Transactions on Aerospace and Electronic Systems, 2003, 39(3): 747-759.

[19] Di Gennaro S. Passive attitude control of flexible spacecraft from quaternion measurements[J]. Journal of Optimization Theory and Applications, 2003, 116(1): 41-60.

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

基于反步法的挠性航天器姿态镇定

Stabilization of Flexible Spacecraft Attitude Based on Backstepping Control

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]	杨明月, 寿莹鑫, 唐勇, 刘畅, 许斌. 多四旋翼无人机编队保持与避碰控制[J]. 航空学报, 2022, 43(S1): 726913-726913.
[2]	唐帅文, 周志杰, 姜江, 曹友, 陈媛, 叶燕清. 考虑扰动的无人机集群协同态势感知一致性评估[J]. 航空学报, 2020, 41(S2): 724233-724233.
[3]	武云丽, 赵天一, 左华平, 孟斌. 地球同步轨道薄膜太阳帆的姿态轨道控制方法[J]. 航空学报, 2020, 41(S2): 724291-724291.
[4]	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.
[5]	黄静, 刘刚, 朱东方, 孙禄君. 电动力绳系离轨系统电流与拉力混合展开控制[J]. 航空学报, 2018, 39(2): 321464-321464.
[6]	王肖, 郭杰, 唐胜景, 徐倩, 马悦悦, 张尧. 吸气式高超声速飞行器鲁棒非奇异Terminal滑模反步控制[J]. 航空学报, 2017, 38(3): 320287-320287.
[7]	王辉, 胡庆雷, 石忠, 高庆吉. 基于反步法的航天器有限时间姿态跟踪容错控制[J]. 航空学报, 2015, 36(6): 1933-1939.
[8]	路遥, 董朝阳, 王青. 高超声速飞行器自适应反步控制器设计[J]. 航空学报, 2015, 36(3): 970-978.
[9]	苗双全, 丛炳龙, 刘向东. 基于输入成形的挠性航天器自适应滑模控制[J]. 航空学报, 2013, 34(8): 1906-1914.
[10]	邓立为, 宋申民. 基于分数阶滑模的挠性航天器姿态鲁棒跟踪控制[J]. 航空学报, 2013, 34(8): 1915-1923.
[11]	刘敏, 徐世杰, 韩潮. 挠性航天器的退步直接自适应姿态跟踪控制[J]. 航空学报, 2012, 33(9): 1697-1705.
[12]	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.
[13]	曹立佳, 张胜修, 刘毅男, 刘英, 张盈. 带有自适应参数近似的块控反步飞行控制器设计[J]. 航空学报, 2011, 32(12): 2259-2267.
[14]	肖冰, 胡庆雷, 霍星, 马广富. 执行器故障的挠性航天器姿态滑模容错控制[J]. 航空学报, 2011, 32(10): 1869-1878.
[15]	曹立佳, 张胜修, 李晓峰, 刘毅男. 折叠翼飞行器发射段鲁棒非线性控制系统设计[J]. 航空学报, 2011, 32(10): 1879-1887.