基于模糊自适应算法的航天器姿态控制
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摘要
在研究航天器飞行姿态控制问题上,为避免大范围跟踪时出现奇点情况,采用欧拉参数四元数来对刚体航天器的姿态进行描述。基于自适应控制算法设计航天器姿态稳定控制的控制器,将扰动力矩考虑到自适应控制率的设计过程中,并结合模糊算法进行参数的在线优化处理。利用李雅普诺夫稳定性理论证明控制系统的稳定性及在有限时间内的收敛性,该控制器的参数易于调节和实现,且由于没有对航天器的动力学方程进行线性化处理,故极大程度上保证了该控制系统的控制精确度。仿真结果表明,当存在外部干扰力矩和参数抖动情况时,所设计的姿态控制器具有良好的稳定性。
In order to avoid the singularity of the spacecraft during the large-scale tracking,the attitude of the rigid body spacecraft is described by the Euler parameter and the quaternion,and the spacecraft is designed based on the adaptive control algorithm. External interference torque was considered in the algorithm. Then controller parameter was optimized by fuzzy rules. The stability of the control system and the convergence in the finite time were proved by the Lyapunov stability theory. The controller parameter was easy to adjust and achieve,and control accuracy of the control system was ensured to a large extent because there was no linearization on the dynamic equations. The simulation results show that the designed attitude controller is stable and robust for external interference torque and parameter jitter.
In order to avoid the singularity of the spacecraft during the large-scale tracking,the attitude of the rigid body spacecraft is described by the Euler parameter and the quaternion,and the spacecraft is designed based on the adaptive control algorithm. External interference torque was considered in the algorithm. Then controller parameter was optimized by fuzzy rules. The stability of the control system and the convergence in the finite time were proved by the Lyapunov stability theory. The controller parameter was easy to adjust and achieve,and control accuracy of the control system was ensured to a large extent because there was no linearization on the dynamic equations. The simulation results show that the designed attitude controller is stable and robust for external interference torque and parameter jitter.
引文
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[13]赵辉,吕青,丁树业.模糊综合评判在优化电机冷却系统中的应用[J].哈尔滨理工大学学报,2016,21(6):106.ZHAO Hui,LV Qing,DING Shuye. The application of fuzzycomprehensive evaluation in optimization of motor cooling system[J]. Journal of Harbin University of Science and Technology,2016,21(6):106.
[14]闵颖颖,刘允刚. Barbalat引理及其在系统稳定性分析中的应用[J].山东大学学报(工学版),2007,37(1):109.MIN Yingying,LIU Yungang. Barbalat lemma and its applicationin analysis of system stability[J]. Journal of Shandong University(Engineering Science),2007,37(1):109.
[2]章仁为.卫星轨道姿态动力学与控制[M].北京:北京航空航天大学出版社,1998:25-28.
[3] YAMASHITAA T,OGURAB N. Improved satellite attitude controlusing a disturbance compensator[J]. Acta Astronautica,2004,55(1):1375.
[4] MEIROVITCH L,KWAK M K. Control of flexible spacecraft withtime-varying configuration[J]. Journal of Guidance,Control andDynamics,1992,15(2):314.
[5] WIE B,BAILEY D,HEIBERG C. Rapid multitarget acquisitionand pointing control of a gile spacecraft[J]. Journal of Guidance,Control,and Dynamics,2002,25(1):96.
[6]杨婧,史小平.卫星姿控系统的滑模容错控制及主动振动抑制[J].电机与控制学报,2015,19(10):100.YANG Jing,SHI Xiaoping. Fault tolerant control and vibrationsuppression of satellite attitude control system via higher-order slid-ing mode control[J]. Electric Machines and Control,2015,19(10):100.
[7] XIAO B,HU Q,ZHANG Y. Fault-tolerant tracking control ofspacecraft with attitude-only measurement under actuator failures[J]. Journal of Guidance,Control,and Dynamics,2014,37(3):838.
[8] WANG G X,WANG X S. H"two-block design of servo systems[J]. Journal of Harbin Institute of Technology,2006,38(6):899.
[9] JIN E,SUN Z. Robust controllers design with finite-time conver-gence for rigid spacecraft attitude tracking control[J]. AerospaceScience and Technology,2008,12(4):324.
[10] PUKDEBOON C,ZINOBER A S I,THEIN M W L. Quasi-con-tinuous higher order sliding mode controllers for spacecraft-atti-tude-tracking maneuvers[J]. IEEE Transactions on Industrial E-lectronics,2010,57(4):1436.
[11] XIA Y,ZHU Z,FU M. Back-stepping sliding mode control formissile systems based on extended state observer[J]. IET ControlTheory and Applications,2011,5(1):93.
[12]陈君,彭小奇,唐秀明,等.一种局部优化边界的支持向量数据描述方法[J].电机与控制学报,2015,19(10):93.CHEN Jun,PENG Xiaoqi,TANG Xiuming,et al. Support vec-tor data description method with local optimization boundary[J].Electric Machines and Control,2015,19(10):93.
[13]赵辉,吕青,丁树业.模糊综合评判在优化电机冷却系统中的应用[J].哈尔滨理工大学学报,2016,21(6):106.ZHAO Hui,LV Qing,DING Shuye. The application of fuzzycomprehensive evaluation in optimization of motor cooling system[J]. Journal of Harbin University of Science and Technology,2016,21(6):106.
[14]闵颖颖,刘允刚. Barbalat引理及其在系统稳定性分析中的应用[J].山东大学学报(工学版),2007,37(1):109.MIN Yingying,LIU Yungang. Barbalat lemma and its applicationin analysis of system stability[J]. Journal of Shandong University(Engineering Science),2007,37(1):109.