考虑安装偏差的联合执行机构自适应控制算法
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摘要
为满足卫星机动过程中成像的需求,采用联合控制力矩陀螺和飞轮作为执行机构提供大且精确的控制力矩,但其安装的偏差会降低卫星姿态控制精度,基于设计自适应控制律处理这一问题.在携带变速控制力矩陀螺卫星通用模型的基础上,建立考虑安装偏差的联合执行机构控制模型.基于修正罗德里格参数描述的姿态运动学,设计多输入多输出自适应跟踪控制律估计执行机构的安装偏差与卫星转动惯量,并进行控制补偿以提高姿态控制精度.采用平滑映射避免控制律出现奇异现象而导致的无法执行,并基于Lyapunov原理分析了控制系统稳定性.数学对比仿真结果表明,该控制方法能够有效的实现卫星快速机动过程中的高精度控制,可提高2个数量级的跟踪控制精度.
To meet the requirement of satellite imaging during maneuver,the mixed control moment gyroscopes and flywheel are used as the actuator to provide large and precise control torque. Due to the fact that the installation deviation of these actuators will reduce the attitude control accuracy of satellite,an adaptive control law is designed to deal with this issue. Based on the dynamic model of a satellite with a cluster of single-gimbal variable-speed control moment gyros,the control model with the consideration of installation deviation is derived. Based on the kinematic equation described by modified Rodrigues parameters,a multi-input multi-output adaptive tracking control law is designed to estimate the installation deviation of the actuators and the inertia of satellite,and the corresponding control compensation is adopted to improve the control accuracy. The singularity phenomenon of the tracking control law is avoided by using smooth projector principle,and the stability of the controlled system is analyzed via Lyapunov theory. Simulation results show that the proposed adaptive controller enables the satellite fast maneuver with high control accuracy,and the accuracy of the tracking control can be improved by two orders of magnitude.
To meet the requirement of satellite imaging during maneuver,the mixed control moment gyroscopes and flywheel are used as the actuator to provide large and precise control torque. Due to the fact that the installation deviation of these actuators will reduce the attitude control accuracy of satellite,an adaptive control law is designed to deal with this issue. Based on the dynamic model of a satellite with a cluster of single-gimbal variable-speed control moment gyros,the control model with the consideration of installation deviation is derived. Based on the kinematic equation described by modified Rodrigues parameters,a multi-input multi-output adaptive tracking control law is designed to estimate the installation deviation of the actuators and the inertia of satellite,and the corresponding control compensation is adopted to improve the control accuracy. The singularity phenomenon of the tracking control law is avoided by using smooth projector principle,and the stability of the controlled system is analyzed via Lyapunov theory. Simulation results show that the proposed adaptive controller enables the satellite fast maneuver with high control accuracy,and the accuracy of the tracking control can be improved by two orders of magnitude.
引文
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[10]叶东,孙兆伟,王剑颖.敏捷卫星的联合执行机构控制策略[J].航空学报,2012,33(6):1108-1115.YE Dong,SUN Zhaowei,WANG Jianying.Control strategy of hybrid actuator for agile satellites[J].Acta Aeronautica ET Astronautica Sinica,2012,33(6):1108-1115.
[11]FORDK A,Hall C D.Singular direction avoidance steering for control-moment gyros[J].Journal of Guidance Control and Dynamics,2000,23(4):648-656.DOI:10.2514/2.4610.
[12]LEVEF A,FITZCOY N G.Hybrid steering logic for single-gimbal control moment gyroscopes[J].Journal of Guidance Control and Dynamics,2010,33(4):1202-1212.DOI:10.2514/1.46853.
[13]STEVENSON D,SCHAUB H.Nonlinear control analysis of a double-gimbal variable-speed control Moment gyroscope[J].Journal of Guidance Control and Dynamics,2012,35(3):787-793.DOI:10.2514/1.56104.
[14]LIDEN S.A new fail operational control moment gyro configuration[C].Guidance,Control and Flight Mechanics Conference.American Institute of Aeronautics and Astronautics,1971:1-9.DOI:10.2514/6.1971-936.
[15]ROITHMAYRC M,KARLGAAR C D,KUMAR R R,et al.Dynamics and control of attitude,power,and momentum for a spacecraft using flywheels and control moment gyroscopes[R].Hampton,VA:National Aeronautics and Space Administration,2003:1-91.
[16]SKELTONC E,HALL C.Mixed control moment gyro and momentum wheel attitude control strategies[J].Astrodynamics,2003,116(1):887-899.
[17]RIZVI F.Cassini thruster calibration algorithm using reaction wheel biasing data[J].Journal of Spacecraft and Rockets,2014,51(2):563-573.DOI:/10.2514/1.A32523.
[18]CHANGY C.An adaptive H∞tracking control for a class of nonlinear multiple-input multiple-output(MIMO)systems[J].IEEE Transactions on Automatic Control,2001,46(9):1432-1437.DOI:10.1109/9.948472.
[2]LONGBOTHAMN,BLEILER C,CHAAPEL C,et al.Spectral classification of worldview-2 multi-angle sequence[C]//IEEE GRSS and ISPRS Joint Urban Remote Sensing Event.Munich,Germany:IEEE Computer Society,2011:109-112.DOI:10.1109/JURSE.2011.5764731.
[3]GIROUARTB,SEBBAG I,LACHIVER J M.Pleiades-HR CMGsbased attitude control system design,development status and performances[C]//Proceedings of 17th IFAC Symposium on Automatic Control in Aerospace.Toulouse,France:2007:834-839.DOI:10.3182/20070625-5-FR-2916.00142.
[4]叶东,屠园园,孙兆伟.面向非沿轨迹成像卫星的切比雪夫神经网络滑模姿态控制[J].航空学报,2015,36(9):3092-3104.DOI:10.7527/S1000-6893.2015.0114.YE Dong,TU Yuanyuan,SUN Zhaowei.Sliding mode control for nonparallel-ground-track imaging using Chebyshev neural network[J].Acta Aeronautica ET Astronautica Sinica,2015,36(9):3092-3104.DOI:10.7527/S1000-6893.2015.0114.
[5]WIE Bong.Singularity escape/avoidance steering logic for control moment gyro systems[J].Journal of Guidance Control and Dynamics,2005,28(5):948-956.DOI:10.2514/1.10136.
[6]LAPPAS V J.A Control moment gyro(CMG)based attitude control system(ACS)for agile small satellites[D].England:University of Surrey,2002:1-9.
[7]CHEN Xiaojiang,STEYN W H.Robust combined eigenaxis slew manoeuvre[C].AIAA Guidance,Navigation,and Control Conference.1999:521-529.
[8]SUN Zhaowei,GENG Yunhai,XU Guodong,et al.The combined control algorithm for large-angle maneuver of hitsat-1 small satellite[J].Acta Astronautica,2004,54(7):463-469.DOI:10.1016/S0094-5765(03)00223-6.
[9]HALLC D,TSIOTRAS P,SHEN Haijun.Tracking rigid body motion using thrusters and momentum wheels[J].Journal of the Astronautical Sciences,2002,50(3):311-323.DOI:10.2514/6.1998-4471.
[10]叶东,孙兆伟,王剑颖.敏捷卫星的联合执行机构控制策略[J].航空学报,2012,33(6):1108-1115.YE Dong,SUN Zhaowei,WANG Jianying.Control strategy of hybrid actuator for agile satellites[J].Acta Aeronautica ET Astronautica Sinica,2012,33(6):1108-1115.
[11]FORDK A,Hall C D.Singular direction avoidance steering for control-moment gyros[J].Journal of Guidance Control and Dynamics,2000,23(4):648-656.DOI:10.2514/2.4610.
[12]LEVEF A,FITZCOY N G.Hybrid steering logic for single-gimbal control moment gyroscopes[J].Journal of Guidance Control and Dynamics,2010,33(4):1202-1212.DOI:10.2514/1.46853.
[13]STEVENSON D,SCHAUB H.Nonlinear control analysis of a double-gimbal variable-speed control Moment gyroscope[J].Journal of Guidance Control and Dynamics,2012,35(3):787-793.DOI:10.2514/1.56104.
[14]LIDEN S.A new fail operational control moment gyro configuration[C].Guidance,Control and Flight Mechanics Conference.American Institute of Aeronautics and Astronautics,1971:1-9.DOI:10.2514/6.1971-936.
[15]ROITHMAYRC M,KARLGAAR C D,KUMAR R R,et al.Dynamics and control of attitude,power,and momentum for a spacecraft using flywheels and control moment gyroscopes[R].Hampton,VA:National Aeronautics and Space Administration,2003:1-91.
[16]SKELTONC E,HALL C.Mixed control moment gyro and momentum wheel attitude control strategies[J].Astrodynamics,2003,116(1):887-899.
[17]RIZVI F.Cassini thruster calibration algorithm using reaction wheel biasing data[J].Journal of Spacecraft and Rockets,2014,51(2):563-573.DOI:/10.2514/1.A32523.
[18]CHANGY C.An adaptive H∞tracking control for a class of nonlinear multiple-input multiple-output(MIMO)systems[J].IEEE Transactions on Automatic Control,2001,46(9):1432-1437.DOI:10.1109/9.948472.