微纳卫星姿态机动的变论域模糊PID控制
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摘要
为了简化计算,满足实时处理的要求,建立了微纳卫星的姿态角动力学模型,并应用欧拉角参数描述运动学模型。针对微纳卫星系统的时变、环境外力矩干扰等因素,同时考虑到系统参数不确定性问题,设计了变论域模糊PID控制律的姿态控制器。不考虑解耦运算,分析了控制器的动态变化参数对姿态稳定控制性能的影响。基于MATLAB/SIMULINK对该系统进行了仿真验证。仿真结果表明,在卫星姿态控制方面,该控制方法具有稳定性好、响应快速、系统超调量小的特点,能够使微纳卫星完成对目标姿态的机动控制,实现对系统姿态的有效控制。
In order to simplify the calculation and satisty the requirement of real-time processing,the attitude angle dynamics model of nanosat is established,and the kinematics model is described by using Euler angle parameters. Aiming at the time varying and environment external torque disturbances,and considering the uncertainty of the system parameters,the attitude controller of variable universe fuzzy PID control has been designed; without considering the decoupling calculation,the influence of the dynamic variation parameters of the controller on the stably control performance of attitude. The simulation and verification of the system are carried out based on Matlab/simulink. The simulation results verify the correctness,in attitude control of the satellite,this control method features good stability,fast response and small overshoot; makes nanosat complete the target attitude maneuver,and achieve the effective control of the systematic attitude.
In order to simplify the calculation and satisty the requirement of real-time processing,the attitude angle dynamics model of nanosat is established,and the kinematics model is described by using Euler angle parameters. Aiming at the time varying and environment external torque disturbances,and considering the uncertainty of the system parameters,the attitude controller of variable universe fuzzy PID control has been designed; without considering the decoupling calculation,the influence of the dynamic variation parameters of the controller on the stably control performance of attitude. The simulation and verification of the system are carried out based on Matlab/simulink. The simulation results verify the correctness,in attitude control of the satellite,this control method features good stability,fast response and small overshoot; makes nanosat complete the target attitude maneuver,and achieve the effective control of the systematic attitude.
引文
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[19]殷云华,陈闽鄂,郑宾,等.基于Matlab的模糊控制器设计及仿真[J].控制工程,2007(5):488-490.
[2]李洪兴.变论域自适应模糊控制器[J].中国科学E辑:技术科学,1999(1):32-42.
[3]李良峰.变论域模糊控制算法研究[D].成都:电子科技大学,2008.
[4]姜艳.挠性卫星自适应模糊变结构控制的研究[D].哈尔滨:哈尔滨工业大学,2008.
[5]WANG L X.Stable adaptive fuzzy control of nonlinear systems[J].IEEE Transactions on Fuzzy Systems,1993,1(2):140-151.
[6]Sousa J M.Fuzzy predictive control applied to an air-conditioning system[J].Control Engineering Practice,1997,5(10):1340-1410.
[7]李源,吴宏悦,吴杰.基于遗传算法PID整定的卫星姿态控制研究[J].中国空间科学技术,2007(4):66-71.
[8]TONG S C,WANG T,LI Y M.A combined backstepping and stochastic small-gain approach to robust adaptive fuzzy output feedback control[J].IEEE Transaction on Fuzzy System,2013,21(2):310-321.
[9]王蜀泉.基于模糊控制的卫星姿态控制方法研究[D].北京:中国科学院研究生院(空间科学与应用研究中心),2005.
[10]余涌涛,梁加红.基于SIMULINK的卫星姿控系统的仿真实现[J].计算机仿真,2006(11):71-74.
[11]徐燕.微小卫星三轴稳定姿态控制系统设计[D].南京:南京航空航天大学,2005.
[12]谢祥华.微小卫星姿态控制系统研究[D].南京:南京航空航天大学,2007.
[13]REN W,NATHAN S.Distributed coordination architecture for multirobot formation control[J].Robotics and Autonomous Systems,2008,56(2):324-330.
[14]SUI S,TONG S C,LI Y M.Adaptive fuzzy backstepping output feedback tracking control of MIMO stochastic pure-feedback nonlinear systems with input saturation[J].Fuzzy Sets and Systems,2014,25(4):20-41.
[15]杨思亮,徐世杰.柔性航天器大角度姿态机动的变论域分形控制[J].哈尔滨工业大学学报,2011(11):136-140.
[16]李洪兴,苗志宏,王加银.非线性系统的变论域自适应稳定控制[J].中国科学E辑,2002,32(2):211-223.
[17]董恺琛,赵开春,赵鹏飞,等.微纳卫星姿控软件实时测试系统[J].光学精密工程,2013(8):2008-2015.
[18]乔建忠,郭雷,雷燕婕,等.微纳卫星姿态控制系统的精细抗干扰容错控制方法[J].中国科学:信息科学,2012(11):1327-1337.
[19]殷云华,陈闽鄂,郑宾,等.基于Matlab的模糊控制器设计及仿真[J].控制工程,2007(5):488-490.