天宫一号基于控制力矩陀螺的智能多模自适应姿态控制系统设计与验证
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摘要
天宫一号是目前我国在轨运行的体积最大、重量最重的载人航天器.它具有变构型、变参数的特性,采用控制力矩陀螺系统和喷气推进系统实现高精度、高稳定度姿态控制.本文通过对天宫一号控制对象参数缓变和跳变相结合特点的分析,规划了高可靠灵活的控制策略,设计了智能多模自适应姿态控制系统.利用智能控制中规则集设定多模自适应控制的指标切换函数分配,利用多模自适应控制算法建立多模型控制器实现不同控制对象,不同控制任务的姿态控制.天宫一号通过地面测试和物理仿真试验,最后发射在轨运行,与神舟八号、神舟九号、神舟十号载人飞船圆满完成交会对接任务,充分验证了姿态控制系统设计的正确性和有效性.该设计方法在解决大型航天器变构型、变参数组合体姿态控制方面有突出优点,在未来的载人航天领域空间站建设具有应用前景.
Tiangong-1 is China's largest and heaviest on-orbit manned spacecraft at the moment, with characteristics of variable configuration and variable parameters. CMG and jet propulsion system are used to realize the high accuracy and high stability of its attitude control. Through analyzing the feature of the combination of slowly variation and jump variation of model parameters of Tiangong-1, a highly reliable and flexible control strategy is planned and intelligent multi-model adaptive attitude control system was designed. The distribution of index switching functions is set based on the rule set of intelligent control, and the multi-model controller is established for the attitude control of various controlled objects and control tasks using multi-model adaptive algorithm. After ground tests and physical simulation experiments of Tiangong-1, it was launched and performed well on orbit. The successful rendezvous and dockings with manned spacecrafts including Shenzhou-8, Shenzhou-9 and Shenzhou-10 illustrate the validity and effectiveness of the attitude control system. The control system has advantages in assembly attitude control of large spacecrafts with variable configuration and variable parameters, and prospects in the future construction of space station in manned space flights.
Tiangong-1 is China's largest and heaviest on-orbit manned spacecraft at the moment, with characteristics of variable configuration and variable parameters. CMG and jet propulsion system are used to realize the high accuracy and high stability of its attitude control. Through analyzing the feature of the combination of slowly variation and jump variation of model parameters of Tiangong-1, a highly reliable and flexible control strategy is planned and intelligent multi-model adaptive attitude control system was designed. The distribution of index switching functions is set based on the rule set of intelligent control, and the multi-model controller is established for the attitude control of various controlled objects and control tasks using multi-model adaptive algorithm. After ground tests and physical simulation experiments of Tiangong-1, it was launched and performed well on orbit. The successful rendezvous and dockings with manned spacecrafts including Shenzhou-8, Shenzhou-9 and Shenzhou-10 illustrate the validity and effectiveness of the attitude control system. The control system has advantages in assembly attitude control of large spacecrafts with variable configuration and variable parameters, and prospects in the future construction of space station in manned space flights.
引文
1 张志方,董文强,张锦江,等.控制力矩陀螺在天宫一号目标飞行器姿态控制上的应用.空间控制技术与应用,2011,37:52–59
2 吴忠.SGCMG系统非奇异操纵及其在空间站中的应用.博士学位论文.北京:北京控制工程研究所,1998.1–13
3 Richard R B,Richard W.L.Failure analysis of international space station control moment gyro.In:10th European Space Mechanisms and Tribology Symposium.San Sebastian,2003.13–25
4 郭延宁,李传江,张永合,等.采用框架角受限控制力矩陀螺的航天器姿态机动控制.航空学报,2011,32:1231–1239
5 张锦江,李季苏,吴宏鑫.用单框架控制力矩陀螺的大型航天器姿态控制系统实物仿真研究.宇航学报,2004,25:382–383
6 Seung M L,Seung-Wu Rhee.Experiments of singularity avoidance steering control laws for redundant single-gimbal control moment gyros.In:International Conference on Control,Automation and Systems.Seoul,Korea,2007.175–178
7 Smith R M,Johansen T A.Multiple Model Approaches to Modeling and Control.London:Taylor&Francis,1997.1–25
8 王伟,李晓理.多模型自适应控制.北京:科学出版社,2001.1–8
9 王昕,王振雷,郑益慧,等.具有降阶模型的多模型鲁棒自适应控制.中国科学技术大学学报,2012,42:456–461
10 宋磊,杨剑影,段志生.多模型切换系统H?鲁棒控制器的设计与应用.控制理论与应用,2010,27:1531–1536
11 Fu Y,Chari T Y.Nonlinear multivariable adaptive control using multiple models and neural networks.Automatica,2007,43:1101–1110
12 翟军勇,费树岷.基于动态模型库的多模型切换控制.控制理论与应用,2009,26:1410–1414
13 Guo Y Y,Jiang B,Xu Y F.Multimodel-based flight control system reconfiguration control in the presence of input constraints.J Contr Theor Ap,2010,8:418–424
14 汤亮,贾英宏,徐世杰.使用单框架控制力矩陀螺的空间站姿态控制系统建模与仿真.宇航学报,2003,24:126–131
15 Zhang W C.Stable weighted multiple model adaptive control:Discrete-time stochastic plant.Int J Adapt Control,2013,27:562–581
2 吴忠.SGCMG系统非奇异操纵及其在空间站中的应用.博士学位论文.北京:北京控制工程研究所,1998.1–13
3 Richard R B,Richard W.L.Failure analysis of international space station control moment gyro.In:10th European Space Mechanisms and Tribology Symposium.San Sebastian,2003.13–25
4 郭延宁,李传江,张永合,等.采用框架角受限控制力矩陀螺的航天器姿态机动控制.航空学报,2011,32:1231–1239
5 张锦江,李季苏,吴宏鑫.用单框架控制力矩陀螺的大型航天器姿态控制系统实物仿真研究.宇航学报,2004,25:382–383
6 Seung M L,Seung-Wu Rhee.Experiments of singularity avoidance steering control laws for redundant single-gimbal control moment gyros.In:International Conference on Control,Automation and Systems.Seoul,Korea,2007.175–178
7 Smith R M,Johansen T A.Multiple Model Approaches to Modeling and Control.London:Taylor&Francis,1997.1–25
8 王伟,李晓理.多模型自适应控制.北京:科学出版社,2001.1–8
9 王昕,王振雷,郑益慧,等.具有降阶模型的多模型鲁棒自适应控制.中国科学技术大学学报,2012,42:456–461
10 宋磊,杨剑影,段志生.多模型切换系统H?鲁棒控制器的设计与应用.控制理论与应用,2010,27:1531–1536
11 Fu Y,Chari T Y.Nonlinear multivariable adaptive control using multiple models and neural networks.Automatica,2007,43:1101–1110
12 翟军勇,费树岷.基于动态模型库的多模型切换控制.控制理论与应用,2009,26:1410–1414
13 Guo Y Y,Jiang B,Xu Y F.Multimodel-based flight control system reconfiguration control in the presence of input constraints.J Contr Theor Ap,2010,8:418–424
14 汤亮,贾英宏,徐世杰.使用单框架控制力矩陀螺的空间站姿态控制系统建模与仿真.宇航学报,2003,24:126–131
15 Zhang W C.Stable weighted multiple model adaptive control:Discrete-time stochastic plant.Int J Adapt Control,2013,27:562–581