基于干扰观测器的一类组合航天器高阶全驱抗干扰控制

doi:10.7527/S1000-6893.2024.28892

Abstract

Abstract:

This paper investigates the High-Order Fully Actuated （HOFA） anti-disturbance control for a type of actual combined spacecraft， in which disturbances include input disturbances with unknown parameters and constant external disturbances. First， a generalized discrete-time step backward HOFA model is introduced， and the disturbances are estimated for each of the two disturbances. Then， based on the HOFA system framework， a composite controller based on the disturbance observer is designed， which can not only effectively suppress disturbances， but also obtain a closed-loop system with an arbitrarily assignable eigenstructure. Secondly， the complete parameterized forms of the observer gain matrix and the feedback control matrix are established by using the parameterization method. Finally， the proposed method is applied to a type of actual combined spacecraft simulator， and the simulation and experimental results fully demonstrate the effectiveness of the proposed method.

Key words: combined spacecraft, discrete-time step backward HOFA model, disturbance observer, anti-disturbance control, parametric design

CLC Number:

V249.32

Kaixin CUI, Guangren DUAN. High⁃order fully actuated anti⁃disturbance control for a type of combined spacecraft based on disturbance observer[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 628892.

Figures/Tables 21

Table 1

Commonly used notations

记号	含义
$I n$	$n$ 阶单位阵
$∅$	空集
$Ω \ Θ$	集合 $Θ$ 在集合 $Ω$ 中的补集
$d e t A$	矩阵 $A$ 的行列式
$A - 1$	矩阵 $A$ 的逆
$A$	矩阵 $A$ 的范数
$q - 1$	单步后向（one-step backward）运算符
$K 0 ~ n$	$[K 0 K 1 ⋯ K n], K i ∈ R m × m, i = 1,2, ⋯, n$
$Ψ (K 0 ~ n)$	$K 0 K 1 ⋯ K n I ⋱ I 0, K i ∈ R m × m, i = 1,2, ⋯, n$

Table 1

Fig.1

Table 2

Parameters of the CSS

参数	参数符号	数值
单个气浮台质量/kg	$M$	17.2
单个气浮台转动惯量/（ $k g ⋅ m 2$ ）	$J 0$	0.24
机械臂质量/kg	$m$	1
组合体质量/kg	$M c$	35.4
机械臂长度/m	$l$	1.2
两气浮台质心距离	$L$	式（1）
组合体的转动惯量	$J c$	式（2）
采样时间/s	$T s$	0.2
最大推力/N		0.2

Table 2

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High⁃order fully actuated anti⁃disturbance control for a type of combined spacecraft based on disturbance observer

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