挠性卫星姿态机动三段式轨迹规划与滚动跟踪控制
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摘要
以多样成像模式对挠性敏捷卫星姿态的快速机动控制为需求,本文针对金字塔构型控制力矩陀螺(control moment gyroscope, CMG)群为执行机构的挠性卫星,提出基于三段式正弦角加速度的姿态路径规划方法及具有滚动优化思想的跟踪控制算法.在姿态机动路径规划方法设计中,融合谱分析及非线性优化方法,设计了兼顾卫星姿态机动快速性及抑制挠性附件振动性能的姿态轨迹;为实现对规划姿态轨迹的高精度跟踪,综合加权优化指标及奇异性、执行机构能力等约束,设计了金字塔构型CMG群框架角速度的非线性模型预测(nonlinear model predictive control, NMPC)跟踪控制律.在转动惯量存在测量误差及空间干扰情况下,多种姿态机动仿真表明,本文提出的控制方法是有效的,且表现出较强的鲁棒性.
To satisfy the attitude rapid maneuver control requirements of various imaging modes, in this paper, the flexible satellite with the pyramid configuration control moment gyroscope(CMG) is considered, then the three-segment sine attitude trajectory planning method of angular acceleration and tracking algorithm with rolling optimization idea are proposed. In the design of attitude trajectory planning method, combining the spectrum analysis and nonlinear optimization method, the attitude trajectory which considers the performances of attitude rapid maneuver and vibration suppression is designed. To track the planed attitude trajectory accurately, taken the weighted optimization function, singularities of CMG and actuator's capacity as the constraints, the tracking control law based on nonlinear model predictive control(NMPC) is presented for frame angular velocity of CMG groups. In the present of inertia deviation and space disturbances, a variety of attitude maneuver simulations are given. The results illustrate that, the proposed control method is effective and has the strong robustness.
To satisfy the attitude rapid maneuver control requirements of various imaging modes, in this paper, the flexible satellite with the pyramid configuration control moment gyroscope(CMG) is considered, then the three-segment sine attitude trajectory planning method of angular acceleration and tracking algorithm with rolling optimization idea are proposed. In the design of attitude trajectory planning method, combining the spectrum analysis and nonlinear optimization method, the attitude trajectory which considers the performances of attitude rapid maneuver and vibration suppression is designed. To track the planed attitude trajectory accurately, taken the weighted optimization function, singularities of CMG and actuator's capacity as the constraints, the tracking control law based on nonlinear model predictive control(NMPC) is presented for frame angular velocity of CMG groups. In the present of inertia deviation and space disturbances, a variety of attitude maneuver simulations are given. The results illustrate that, the proposed control method is effective and has the strong robustness.
引文
[1] ZHANG Shaocai, ZHU Luqing. 2014 year in review:foreign small satellites[J]. Space International, 2015, 434(2):63–70.(张召才,朱鲁青. 2014年国外小卫星回顾[J].国际太空, 2015,434(2):63–70.)
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[7] SUN Zhiyan, JIN Guang, ZHANG Liu, et al. SGCMG nonsingularity trajectory programming algorithm based on adaptive gauss pseudospectral method[J]. Journal of Astronautics, 2012,33(5):597–604.(孙志远,金光,张刘,等.基于自适应高斯伪谱法的SGCMG无奇异框架角轨迹规划[J].宇航学报, 2012, 33(5):597–604.)
[8] YANG Xixiang, ZHANG Weihua. Rapid optimization of ascent trajectory for solid launch vehicles based on Gauss pseudo spectral method[J]. Journal of Astronautics, 2011, 32(1):15–21.(杨希祥,张为华.基于Gauss伪谱法的固体运载火箭上升段轨迹快速优化研究[J].宇航学报, 2011, 32(1):15–21.)
[9] JIANG Bingqiang. Online trajectory regulation and trace control of satellite’s rapid attitude maneuver[D]. Harbin:Harbin Institute of Technology, 2015.(姜炳强.卫星快速姿态机动的轨迹实时规划与跟踪控制方法[D].哈尔滨:哈尔滨工业大学, 2015.)
[10] FENG Zhiwei, ZHANG Yonghe, LIU Zhichao, et al. Feedback control method for attitude maneuver of agile satellite based on trajectory optimization[J]. Journal of National University of Defense Technology, 2013, 35(4):1–6.(丰志伟,张永合,刘志超,等.基于路径规划的敏捷卫星姿态机动反馈控制方法[J].国防科技大学学报, 2013, 35(4):1–6.)
[11] SUN C, WU S, CHANG H, et al. Design of takagi-sugeno fuzzy region controller based on rule reduction, robust control, and switching concept[J]. Journal of Dynamic Systems, Measurement and Control,2007, 129(2):163–170.
[12] HUANG Jing, LI Chuanjiang, MA Guangfu, et al. Generalised inversion based maneuver attitude control for under-actuated spacecraft[J]. Acta Automatica Sinica, 2013, 39(3):285–292.(黄静,李传江,马广富,等.基于广义逆的欠驱动航天器姿态机动控制[J].自动化学报, 2013, 39(3):285–292.)
[13] CHEN Gang, KANG Xingwu, QIAO Yang, et al. The nonlinear controller designing for spacecraft large angle attitude state tracking[J].Journal of Astronautics, 2009, 30(2):556–559.(陈刚,康兴无,乔洋,等.航天器相对大角度姿态跟踪非线性控制器设计[J].宇航学报, 2009, 30(2):556–559.)
[14] CHANG Lin, JIN Guang, FAN Guowei, et al. Small satellite maneuver based on terminal sliding mode control[J]. Optics and Precision Engineering, 2015, 23(2):485–496.(常琳,金光,范国伟,等.基于终端滑模控制的小卫星快速机动方法研究[J].光学精密工程, 2015, 23(2):485–496.)
[15] FAN Guowei, CHANG Lin, DAI Lu, et al. Nonlinear model predictive control of agile satellite attitude maneuver[J]. Optics and Precision Engineering, 2015, 23(8):2318–2327.(范国伟,常琳,戴路,等.敏捷卫星姿态机动的非线性模型预测控制[J].光学精密工程, 2015, 23(8):2318–2327.)
[16] FAN Guowei, CHANG Lin, YANG Xiubin, et al. Control strategy of hybrid actuator for novel imaging modes of agile satellites[J]. Acta Automatica Sinica, 2017, 43(10):1858–1868.(范国伟,常琳,杨秀彬,等.面向新颖成像模式敏捷卫星的联合执行机构控制方法[J].自动化学报, 2017, 43(10):1858–1868.)
[17] HAN Huiting, LI Dewei, XI Yugeng. Implementation of nonlinear model predictive control based on FPGA[J]. Microcomputer Application, 2012, 28(3):1–4.(韩慧婷,李德伟,席裕庚.基于FPGA的非线性预测控制器设计[J].微型电脑应用, 2012, 28(3):1–4.)
[18] MILLS A, WILLS A G, WELLER S R, et al. Implementation of linear model predictive control using a field-programmable gate array[J]. IET Control Theory and Applications, 2012, 6(8):1042–1054.
[2] TAO J, YU W. A preliminary study on imaging time difference among bands of WorldView-2 and its potential applications[C]//Proceeding of IEEE International Geoscience and Remote Sensing Symposium,Geoscience and Remote Sensing Symposium. Shanghai, China:IEEE,2011:198–200.
[3] HU Qinglei, MA Guangfu. Active vibration suppression in flexible spacecraft with mismatched uncertainty via sliding mode/shaped input control[J]. Journal of Vibration and Shock, 2007, 26(6):133–138.(胡庆雷,马广富.基于滑模输出反馈与输入成形控制相结合的挠性航天器主动振动抑制方法[J].振动与冲击, 2007, 26(6):133–138.)
[4] HU Qinglei, MA Guangfu, JIANG Ye, et al. Variable structure control with time-varying sliding mode and vibration control for flexible satellite[J]. Control Theory&Applications, 2009, 26(2):122–126.(胡庆雷,马广富,姜野,等.三轴稳定挠性卫星姿态机动时变滑模变结构和主动振动控制[J].控制理论与应用, 2009, 26(2):122–126.)
[5] SHEN Xiaoning, ZHOU Duan, GUO Yu, et al. Path planning for maneuver of the satellite based on a multi-objective evolutionary algorithm[J]. Journal of Aerospace Power, 2010, 15(8):1906–1912.(申晓宁,周端,郭毓,等.基于多目标进化算法的卫星机动路径规划[J].航空动力学报, 2010, 15(8):1906–1912.)
[6] ZHENG Lijun, GUO Yu, LAI Aifang, et al. Path planning for large angle attitude maneuver of flexible spacecraft[J]. Journal of Huazhong University of Science and Technology, 2011, 39(Supp.):232–242.(郑立君,郭毓,赖爱芳,等.挠性航天器大角度姿态机动路径规划[J].华中科技大学学报自然科学版, 2011, 39(增刊):232–242.)
[7] SUN Zhiyan, JIN Guang, ZHANG Liu, et al. SGCMG nonsingularity trajectory programming algorithm based on adaptive gauss pseudospectral method[J]. Journal of Astronautics, 2012,33(5):597–604.(孙志远,金光,张刘,等.基于自适应高斯伪谱法的SGCMG无奇异框架角轨迹规划[J].宇航学报, 2012, 33(5):597–604.)
[8] YANG Xixiang, ZHANG Weihua. Rapid optimization of ascent trajectory for solid launch vehicles based on Gauss pseudo spectral method[J]. Journal of Astronautics, 2011, 32(1):15–21.(杨希祥,张为华.基于Gauss伪谱法的固体运载火箭上升段轨迹快速优化研究[J].宇航学报, 2011, 32(1):15–21.)
[9] JIANG Bingqiang. Online trajectory regulation and trace control of satellite’s rapid attitude maneuver[D]. Harbin:Harbin Institute of Technology, 2015.(姜炳强.卫星快速姿态机动的轨迹实时规划与跟踪控制方法[D].哈尔滨:哈尔滨工业大学, 2015.)
[10] FENG Zhiwei, ZHANG Yonghe, LIU Zhichao, et al. Feedback control method for attitude maneuver of agile satellite based on trajectory optimization[J]. Journal of National University of Defense Technology, 2013, 35(4):1–6.(丰志伟,张永合,刘志超,等.基于路径规划的敏捷卫星姿态机动反馈控制方法[J].国防科技大学学报, 2013, 35(4):1–6.)
[11] SUN C, WU S, CHANG H, et al. Design of takagi-sugeno fuzzy region controller based on rule reduction, robust control, and switching concept[J]. Journal of Dynamic Systems, Measurement and Control,2007, 129(2):163–170.
[12] HUANG Jing, LI Chuanjiang, MA Guangfu, et al. Generalised inversion based maneuver attitude control for under-actuated spacecraft[J]. Acta Automatica Sinica, 2013, 39(3):285–292.(黄静,李传江,马广富,等.基于广义逆的欠驱动航天器姿态机动控制[J].自动化学报, 2013, 39(3):285–292.)
[13] CHEN Gang, KANG Xingwu, QIAO Yang, et al. The nonlinear controller designing for spacecraft large angle attitude state tracking[J].Journal of Astronautics, 2009, 30(2):556–559.(陈刚,康兴无,乔洋,等.航天器相对大角度姿态跟踪非线性控制器设计[J].宇航学报, 2009, 30(2):556–559.)
[14] CHANG Lin, JIN Guang, FAN Guowei, et al. Small satellite maneuver based on terminal sliding mode control[J]. Optics and Precision Engineering, 2015, 23(2):485–496.(常琳,金光,范国伟,等.基于终端滑模控制的小卫星快速机动方法研究[J].光学精密工程, 2015, 23(2):485–496.)
[15] FAN Guowei, CHANG Lin, DAI Lu, et al. Nonlinear model predictive control of agile satellite attitude maneuver[J]. Optics and Precision Engineering, 2015, 23(8):2318–2327.(范国伟,常琳,戴路,等.敏捷卫星姿态机动的非线性模型预测控制[J].光学精密工程, 2015, 23(8):2318–2327.)
[16] FAN Guowei, CHANG Lin, YANG Xiubin, et al. Control strategy of hybrid actuator for novel imaging modes of agile satellites[J]. Acta Automatica Sinica, 2017, 43(10):1858–1868.(范国伟,常琳,杨秀彬,等.面向新颖成像模式敏捷卫星的联合执行机构控制方法[J].自动化学报, 2017, 43(10):1858–1868.)
[17] HAN Huiting, LI Dewei, XI Yugeng. Implementation of nonlinear model predictive control based on FPGA[J]. Microcomputer Application, 2012, 28(3):1–4.(韩慧婷,李德伟,席裕庚.基于FPGA的非线性预测控制器设计[J].微型电脑应用, 2012, 28(3):1–4.)
[18] MILLS A, WILLS A G, WELLER S R, et al. Implementation of linear model predictive control using a field-programmable gate array[J]. IET Control Theory and Applications, 2012, 6(8):1042–1054.