基于干扰观测器的小卫星自适应积分滑模姿态控制
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摘要
针对飞轮摩擦力矩和外界干扰力矩对小卫星姿态控制精度的影响,设计了一种自适应积分滑模控制器。首先通过设计干扰观测器来补偿飞轮摩擦力矩;并给出了干扰观测器能稳定工作的条件。针对滑模控制器存在的抖振问题,通过对切换增益设计自适应律来减弱抖振;然后基于干扰观测器和自适应律设计了自适应积分滑模控制器;理论证明了该控制器的稳定性。最后通过对小卫星姿态控制进行数字仿真,在控制器作用下,小卫星实现了0. 001°的控制精度;同时具有较小的抖振幅度,证明了所设计控制器的优越性。
This brief designs an adaptive integral sliding mode controller to reduce the influence of flywheel friction torque and external disturbance torque were presented. Firstly,the disturbance observer is designed to offset the friction torque of the flywheel,and the conditions for the stability of disturbance observer are given. The adaptive law of the switching gain is designed to weaken the chattering problem that sliding mode controller have. Then the adaptive integral sliding mode controller is designed based on the disturbance observer and the adaptive law.The stability of the controller is proved. The simulation results show that the small satellite can achieve 0. 001 degree of attitude control precision with little chattering under the action of the controller,which proves the superiority of the controller.
This brief designs an adaptive integral sliding mode controller to reduce the influence of flywheel friction torque and external disturbance torque were presented. Firstly,the disturbance observer is designed to offset the friction torque of the flywheel,and the conditions for the stability of disturbance observer are given. The adaptive law of the switching gain is designed to weaken the chattering problem that sliding mode controller have. Then the adaptive integral sliding mode controller is designed based on the disturbance observer and the adaptive law.The stability of the controller is proved. The simulation results show that the small satellite can achieve 0. 001 degree of attitude control precision with little chattering under the action of the controller,which proves the superiority of the controller.
引文
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9廖瑛,杨雅君,王勇.滑模控制的新型双幂次组合函数趋近律[J].国防科技大学学报,2017,39(3):105-110Liao Ying,Yang Yajun,Wang Yong.Novel double power combination function reaching law for sliding mode control[J].Journal of National University of Defense Technology,2017,39(3):105-110
10李冬柏,吴宝林,张迎春.考虑未知飞轮摩擦力矩的航天器姿态跟踪鲁棒自适应控制[J].宇航学报,2016,37(2):175-181Li Dongbai,Wu Baolin,Zhang Yingchun.Robust adaptive control for spacecraft attitude tracking with unknown friction torque of reaction wheel[J].Journal of Astronautics,2016,37(2):175-181
11丛炳龙,刘向东,陈振.刚体航天器姿态跟踪系统的自适应积分滑模控制[J].航空学报,2013,34(3):620-628Cong Binglong,Liu Xiangdong,Chen Zhen.Adaptive integral sliding mode control for rigid spacecraft attitude tracking[J].Acta Aeronautica et Astronautica Sinica,2013,34(3):620-628
2孙兆伟,邬树楠,李晖.带有干扰观测器的凝视航天器姿态变结构控制[J].哈尔滨工业大学学报,2010,42(9):1374-1378,1417Sun Zhaowei,Wu Shunan,Li Hui.Variable structure attitude control of staring mode spacecraft with disturbance observer[J].Journal of Harbin Institute of Technology,2010,42(9):1374-1378,1417
3杨宁宁,杨照华,余远金.基于机械飞轮干扰补偿的小卫星自适应滑模变结构姿态控制[J].航天控制,2013,31(1):51-57Yang Ningning,Yang Zhaohua,Yu Yuanjin.The small satellite adaptive sliding mode attitude controller with mechanical flywheels disturbance compensation[J].Aerospace Control,2013,31(1):51-57
4 Liu X,Shan Z,Li Y.Dynamic boundary layer based neural network quasi-sliding mode control for soft touching down on asteroid[J].Advances in Space Research,2017,59(8):2173-2185
5 Ni J,Liu L,Liu C,et al.Fast fixed-time nonsingular terminal sliding mode control and its application to chaos suppression in power system[J].IEEE Transactionson Circuits&Systems II Express Briefs,2017,64(2):151-155
6 Zhang Y,Yao Z,Yao Z,et al.An analysis of the stability and chattering reduction of high-order sliding mode tracking control for a hypersonic vehicle[J].Information Sciences,2016,348(C):25-48
7张合新,范金锁,孟飞,等.一种新型滑模控制双幂次趋近律[J].控制与决策,2013,28(2):289-293Zhang Hexin,Fan Jinsuo,Meng Fei,et al.A new double power reaching law for sliding mode control[J].Control and Decision,2013,28(2):289-293
8张瑶,马广富,郭延宁,等.一种多幂次滑模趋近律设计与分析[J].自动化学报,2016,42(3):466-472Zhang Yao,Ma Guangfu,Guo Yanting,et al.A multipower reaching law of sliding mode control design and analysis[J].Acta Automatica Sinica,2016,42(3):466-472
9廖瑛,杨雅君,王勇.滑模控制的新型双幂次组合函数趋近律[J].国防科技大学学报,2017,39(3):105-110Liao Ying,Yang Yajun,Wang Yong.Novel double power combination function reaching law for sliding mode control[J].Journal of National University of Defense Technology,2017,39(3):105-110
10李冬柏,吴宝林,张迎春.考虑未知飞轮摩擦力矩的航天器姿态跟踪鲁棒自适应控制[J].宇航学报,2016,37(2):175-181Li Dongbai,Wu Baolin,Zhang Yingchun.Robust adaptive control for spacecraft attitude tracking with unknown friction torque of reaction wheel[J].Journal of Astronautics,2016,37(2):175-181
11丛炳龙,刘向东,陈振.刚体航天器姿态跟踪系统的自适应积分滑模控制[J].航空学报,2013,34(3):620-628Cong Binglong,Liu Xiangdong,Chen Zhen.Adaptive integral sliding mode control for rigid spacecraft attitude tracking[J].Acta Aeronautica et Astronautica Sinica,2013,34(3):620-628