三轴稳定卫星姿态控制方法研究
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摘要
卫星姿态控制系统是一个多输入多输出、耦合的不确定非线性系统。在轨运行的卫星不可避免地受到各种干扰力矩的影响,并且这些干扰力矩的大小也是变化的。干扰不确定性的存在使得卫星姿态控制问题进一步复杂化。因此,为了完成姿态控制任务,需要所设计的控制律具有较高的鲁棒性。本文就是在这种背景下,从理论和应用两个方面对卫星姿态控制系统的控制算法进行了深入的研究,并将提出的姿态控制方案用于某型在研卫星的姿态控制中。主要完成了以下几个方面的工作:
针对常值干扰下的卫星姿态控制问题,给出了一种基于LQR的线性控制方法。先将建立的卫星动力学模型进行线性化,并根据LQR方法中对参数的要求形式进行状态变量的选取,设计合适的反馈增益,以实现对常值干扰的抑制,从而实现姿态控制。
针对形式已知的周期干扰力矩,在已建立的刚性卫星姿态动力学模型的基础上简化方程,可以得到独立的俯仰回路方程,和相互耦合的滚动/偏航回路方程,对形式已知的周期干扰力矩对卫星姿态的影响进行理论分析。对于独立的俯仰回路可以进行单独的补偿设计。对于相互耦合的滚动/偏航回路采用滚动/偏航轴的反作用飞轮对形式已知的周期干扰力矩进行最大限度的补偿,以实现高精度姿态控制。
针对有界不确定性干扰设计了几种具有鲁棒性的控制器。首先设计了一基于Lyapunov方法的四元数反馈非线性控制律,并且在理论上证明了控制律的正确性。其次设计了一个具有良好的鲁棒性和快速性的滑模变结构控制律,采用了反双曲正切函数,避免了滑模变结构控制中的抖振问题。最后针对角速度敏感器失效状态下的姿态控制问题,设计了一个基于干扰观测器的输出反馈姿态控制器,实现了对不确定性干扰的有效抑制。
Satellite attitude control system is a multi-input multi-output coupled uncertain nonlinear system. For any on-orbit satellite, it is inevitable to be influenced by some kinds of disturbance torques. Furthermore, these disturbances are uncertain. This uncertainty makes the attitude control problem further complicated. Therefore, to accomplish attitude control mission, it is necessary to design attitude control laws with high robustness. On this background, this thesis investigated attitude control algorithms for satellite attitude control system in detail, from both theoretical and applicable aspects, and applied the proposed control schemes to certain satellite control system. The main contents of this thesis are as follows.
A linear control method based on LQR is given in accordance with the attitude control problem with constant value disturbance. At first, we linearize the kinetic model of the satellite. Then we select state variables according to the requirements of parameters' form in the LQR method, design appropriate feedback gain to implement disturbance suppression and attitude control.
According to the known form periodic disturbance torque, we can get the independent pitch loop equation and coupled roll/yaw loop equation after we simplify the established rigid satellite attitude kinetic model. And then we theoretically analyze the impact of known form periodic disturbance torque to the satellite attitude. We carry out a separate compensation design for the independent pitch loop. For the intercoupling roll/yaw loop,the reaction flywheels on this loop are used to make maximum compensation to the known form periodic disturbance torque in order to realize high-precision attitude control.
According to the bounded uncertain disturbances, we design several controllers with robustness. First,we design a quaternion feedback nonlinear control law base on Lyapunov method and prove the correctness of the control law theoretically. Secondly,a sliding mode variable structure control law with good robustness and rapidity is designed. We use reverse hyperbolic tangent function to aviod the chattering problem in sliding mode variable variable structure control. Finally, we design a output feedback disturbance observer without angular rate in accordance with the control problem in the state of angular velocity sensor failure.
针对常值干扰下的卫星姿态控制问题,给出了一种基于LQR的线性控制方法。先将建立的卫星动力学模型进行线性化,并根据LQR方法中对参数的要求形式进行状态变量的选取,设计合适的反馈增益,以实现对常值干扰的抑制,从而实现姿态控制。
针对形式已知的周期干扰力矩,在已建立的刚性卫星姿态动力学模型的基础上简化方程,可以得到独立的俯仰回路方程,和相互耦合的滚动/偏航回路方程,对形式已知的周期干扰力矩对卫星姿态的影响进行理论分析。对于独立的俯仰回路可以进行单独的补偿设计。对于相互耦合的滚动/偏航回路采用滚动/偏航轴的反作用飞轮对形式已知的周期干扰力矩进行最大限度的补偿,以实现高精度姿态控制。
针对有界不确定性干扰设计了几种具有鲁棒性的控制器。首先设计了一基于Lyapunov方法的四元数反馈非线性控制律,并且在理论上证明了控制律的正确性。其次设计了一个具有良好的鲁棒性和快速性的滑模变结构控制律,采用了反双曲正切函数,避免了滑模变结构控制中的抖振问题。最后针对角速度敏感器失效状态下的姿态控制问题,设计了一个基于干扰观测器的输出反馈姿态控制器,实现了对不确定性干扰的有效抑制。
Satellite attitude control system is a multi-input multi-output coupled uncertain nonlinear system. For any on-orbit satellite, it is inevitable to be influenced by some kinds of disturbance torques. Furthermore, these disturbances are uncertain. This uncertainty makes the attitude control problem further complicated. Therefore, to accomplish attitude control mission, it is necessary to design attitude control laws with high robustness. On this background, this thesis investigated attitude control algorithms for satellite attitude control system in detail, from both theoretical and applicable aspects, and applied the proposed control schemes to certain satellite control system. The main contents of this thesis are as follows.
A linear control method based on LQR is given in accordance with the attitude control problem with constant value disturbance. At first, we linearize the kinetic model of the satellite. Then we select state variables according to the requirements of parameters' form in the LQR method, design appropriate feedback gain to implement disturbance suppression and attitude control.
According to the known form periodic disturbance torque, we can get the independent pitch loop equation and coupled roll/yaw loop equation after we simplify the established rigid satellite attitude kinetic model. And then we theoretically analyze the impact of known form periodic disturbance torque to the satellite attitude. We carry out a separate compensation design for the independent pitch loop. For the intercoupling roll/yaw loop,the reaction flywheels on this loop are used to make maximum compensation to the known form periodic disturbance torque in order to realize high-precision attitude control.
According to the bounded uncertain disturbances, we design several controllers with robustness. First,we design a quaternion feedback nonlinear control law base on Lyapunov method and prove the correctness of the control law theoretically. Secondly,a sliding mode variable structure control law with good robustness and rapidity is designed. We use reverse hyperbolic tangent function to aviod the chattering problem in sliding mode variable variable structure control. Finally, we design a output feedback disturbance observer without angular rate in accordance with the control problem in the state of angular velocity sensor failure.
引文
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2 G. M. Brown, S. A. Johnson. an Overview of the Fault Protection Design for the Attitude Control Subsystem of the Cassini Spacecraft. Proceedings of American Control Conference. Philadelphia Pennsylvania, 1998: 884~898
3 W. D. Deininger. Space Technology Three: Mission Overview and Spacecraft Concept Description. Acta Astronautica. 2003,52:455~465
4何炬.国外天文导航技术发展综述.舰船科学技术. 2005, 27(5): 91~96
5李勇,魏春岭.卫星自主导航技术发展综述.航天控制. 2002, (2): 70~74
6宋斌,马广富,李传江,吕建婷.基于飞轮的偏置动量卫星周期干扰补偿方法.控制工程. 2007, 2(14): 143~146
7王曙光,张伟.偏置动量卫星耦合通道外干扰力矩补偿方案.上海航天. 2007(3): 20~25
8张景瑞,李俊峰.基于Lyapunov方法的卫星非线性姿态控制.清华大学学报. 2004, 5(44): 670~673
9朱永红.非线性不确定系统鲁棒自适应控制研究.南京航空航天大学博士学位论文. 2001: 1~5
10 Toshiaki Yamashita, Naoto Ogura. Improved satellite attitude control using a disturbance compensater. Acta Astronautica. 2004, 15(25): 15~25
11 X. Ye, N. Yajima, G. Ai. Attitude Control and High Precision Pointing Control System of a large Balloon Borne Solar Telescope. Advance Space Research. 2000, 26(9): 1419~1422
12 J. K. Newton, J. L. Farrell. Natural Frequencies of a Flexible Gravity-Gradient Satellite. J of Spacecraft. 1968, 5(5): 560~569
13林来兴,何英姿.现代小卫星的重力梯度姿态稳定系统.控制工程. 1994(5): 19~23
14杨大明.空间飞行器姿态控制系统.哈尔滨工业大学出版社, 2000: 100~158
15钱勇.高精度三轴稳定卫星姿态确定和控制系统研究.西北工业大学硕士论文. 2002: 94~96
16荆武兴,韩品尧,王学孝,吴瑶华.基于拟欧拉角信号的连续力矩姿态机动控制.宇航学报, 1996, 17(2): 6~17
17 B. N. Agrawal, G. Song, N. V. Buck. Slew Maneuvers of Flexible Spacecraft Using Input Shaping and Pulse-Width Pulse-Frequency Modulated Thruster. Naval Postgraduate School, Monterey, CA939943, USA, 38th International Astronautical Congress. Cct 6-10, 1997/Turin, Italy, IFA-97-A.2.09: 1~11
18 H. Bang, Y. park, J. Han, H. Hwangbo. Feedback Control for Slew Maneuver Using On-Off Thrusters. Journal of Guidance. Control and Dynamics. 1999, 11~12, 22(6): 816~822
19周军.航天器控制原理.西北工业大学出版社, 2001: 71~73
20 A. Noble. Louis A conceptual satellite attitude control system design. University of California, Los Angeles. January. 2003: 210~218
21柏林.三轴稳定卫星姿态确定和姿态控制系统研究.西北工业大学硕士学位论文. 2004: 10~15
22杨嘉犀.卫星姿态动力学与控制(2).宇航出版社. 1998: 77~79
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24 Jonathan Lawton, Randal W. Bread, Tim Mclain. Successive Galerkin Approximation of Nonlinear Optimal Attitude Control. ACC99-IEEE0220, 2005: 50~55
25 L. Makovec, Kristin. A Magnetic Controller for Tree-Axis Stability of Nanosatellites. Thesis. July 23, 2001: 30~33
26李勇,吴宏鑫.一类挠性航天器的变结构控制.控制工程. 1996(1): 55~59
27 A. P. Bukley. Hubble Space Telescope Pointing Control System Design Improvement Study. Guidance. Control and Dynamics. 1995, 18(2): 194~199
28 S. Grocott, J. How, D. Miller, D.MacMartin, K. Liu. Robust Control Design and Implementation on the Middeck Active Control Experiment. Guidance, Control and Dynamic. 1994, 17(6): 1163~1170
29 T. Kida, I. Yamaguchi, Y. Chida, Sekiguchi T. On-Orbit Robust Control ofFlexible Spacecraft ETS-VI. Thesis. Guidance, Control and Dynamic. 1997, 20(5): 865~872
30吴宏鑫.航天控制的发展方向——航天器智能自主控制.控制工程. 2001(5): 20~28
31解永春,牟小刚,吴宏鑫,李季苏.挠性航天器大角度机动的全系数自适应控制.控制工程. 1997(2): 45~51
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33 J. J. E. Slotine, W. P. Li,应用非线性控制.程代展等译.机械工业出版社, 2006: 56~58
34李殿璞.非线性控制系统理论基础.哈尔滨工程大学出版社, 2006: 92-95
35 K. Zhou, J. C. Doyle, K. Glover. Robust and Optimal Control. New Jersey, Prentice-Hall, 1996: 46~47
36 W. Kang. Control of Spacecraft via Nonlinear H∞Method. Proceedings of the 33rd Conference on Decision and Control, Lake Buena Vista, FL, 1994: 921~926
37 W. Kang. Nonlinear H∞Control and Its Application to Rigid Spacecraft. IEEE Transanctions on Automatic Control. 1995, 40(7): 1281~1285
38 S. R. Vadali. Variable-structure Control of Spacecraft Large-angle Maneuvers. Journal of Guidance, Control and Dynamics. 1986, 9(2): 235~239
39 B. Q. Wang, K. Gong, D. Yang, J. F. Li. Fine Attitude Control by Reaction Wheels using Variable-Structure Controller. Acta Astronautica. 2003, 52: 613~618
40 S. H. Ding, S. H. Li. Sliding Mode Control of Spacecraft Attitude with Finite-Time Convergence. Proceedings of the 6th World Congress on Intelligent Control and Automation, Dalian, China. 2006: 830~834
41 V. I. Utkin. Variable Structure Systems with Sliding Modes. IEEE Transactions on Automatic Control. 1997, 22(2): 212~222
42 M. Lovera, A. Astolfi. Spacecraft Attitude Control Using Magnetic Actuators. Automatica. 2004, 40(8): 1405~1414
43 M. Lovera, A. Astolfi. Global Magnetic Attitude Control of Inertially Pointing Spacecraft. Journal of Guidance, Control and Dynamics. 2005, 28(5): 1065~1067
44 K. Subbarao. The Attitude Control Problem. Re-visited. Advances in the Astronautical Sciences. 2003, 115: 86~101
45 A. Ailon, R. Segev, B. Grinberg, M. Gil. Velocity-Free Controllers for Spacecraft Attitude Regulation Some Further Applications and Results. Proceedings of the 2001. IEEE International Conference on Control Applications, México City, México. 2001: 799~804
46段广仁.线性系统理论(第2版).哈尔滨,哈尔滨工业大学出版社. 2004: 156~162
47黄圳圭.航天器姿态动力学.国防科技大学出版社. 1997: 59~78
48武延鹏. HXMT卫星姿态确定与控制系统的设计与实验研究.清华大学硕士论文. 2004: 4, 67~81
49 P. Tsiotras, H. J. Shen. Satellite attitude control and power tracking with energy/ momentum. Journal of Guidance, Control and Dymamics. 2001, 24(1): 23~34.
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57 K. Subbarao. The attitude control problem: revisited. Advances in the Astronautical Sciences. Junkins Astrodynamics Symposium. 2003, 115: 95~110.
58 J. T. Wen, K. K. Delgado. The attitude control problem. IEEE Transactions on Automatic Control. 1991, 36(10): 1148~1162
59 K. Subbarao. The attitude control problem, re-visited. Advances in the Astronautical Sciences. 2003, 115: 86~101
60王景,刘良栋.小卫星的鲁棒自适应姿态控制.宇航学报. 2003, 24(3): 235~239
61 D. M. Dawson, Z. Qu, J. J. Carroll. Tracking control of rigid–link electrically–driven robot manipulators. International Journal of Control. 1992, 56(5): 991~1006
2 G. M. Brown, S. A. Johnson. an Overview of the Fault Protection Design for the Attitude Control Subsystem of the Cassini Spacecraft. Proceedings of American Control Conference. Philadelphia Pennsylvania, 1998: 884~898
3 W. D. Deininger. Space Technology Three: Mission Overview and Spacecraft Concept Description. Acta Astronautica. 2003,52:455~465
4何炬.国外天文导航技术发展综述.舰船科学技术. 2005, 27(5): 91~96
5李勇,魏春岭.卫星自主导航技术发展综述.航天控制. 2002, (2): 70~74
6宋斌,马广富,李传江,吕建婷.基于飞轮的偏置动量卫星周期干扰补偿方法.控制工程. 2007, 2(14): 143~146
7王曙光,张伟.偏置动量卫星耦合通道外干扰力矩补偿方案.上海航天. 2007(3): 20~25
8张景瑞,李俊峰.基于Lyapunov方法的卫星非线性姿态控制.清华大学学报. 2004, 5(44): 670~673
9朱永红.非线性不确定系统鲁棒自适应控制研究.南京航空航天大学博士学位论文. 2001: 1~5
10 Toshiaki Yamashita, Naoto Ogura. Improved satellite attitude control using a disturbance compensater. Acta Astronautica. 2004, 15(25): 15~25
11 X. Ye, N. Yajima, G. Ai. Attitude Control and High Precision Pointing Control System of a large Balloon Borne Solar Telescope. Advance Space Research. 2000, 26(9): 1419~1422
12 J. K. Newton, J. L. Farrell. Natural Frequencies of a Flexible Gravity-Gradient Satellite. J of Spacecraft. 1968, 5(5): 560~569
13林来兴,何英姿.现代小卫星的重力梯度姿态稳定系统.控制工程. 1994(5): 19~23
14杨大明.空间飞行器姿态控制系统.哈尔滨工业大学出版社, 2000: 100~158
15钱勇.高精度三轴稳定卫星姿态确定和控制系统研究.西北工业大学硕士论文. 2002: 94~96
16荆武兴,韩品尧,王学孝,吴瑶华.基于拟欧拉角信号的连续力矩姿态机动控制.宇航学报, 1996, 17(2): 6~17
17 B. N. Agrawal, G. Song, N. V. Buck. Slew Maneuvers of Flexible Spacecraft Using Input Shaping and Pulse-Width Pulse-Frequency Modulated Thruster. Naval Postgraduate School, Monterey, CA939943, USA, 38th International Astronautical Congress. Cct 6-10, 1997/Turin, Italy, IFA-97-A.2.09: 1~11
18 H. Bang, Y. park, J. Han, H. Hwangbo. Feedback Control for Slew Maneuver Using On-Off Thrusters. Journal of Guidance. Control and Dynamics. 1999, 11~12, 22(6): 816~822
19周军.航天器控制原理.西北工业大学出版社, 2001: 71~73
20 A. Noble. Louis A conceptual satellite attitude control system design. University of California, Los Angeles. January. 2003: 210~218
21柏林.三轴稳定卫星姿态确定和姿态控制系统研究.西北工业大学硕士学位论文. 2004: 10~15
22杨嘉犀.卫星姿态动力学与控制(2).宇航出版社. 1998: 77~79
23韩聪颖.小型天文卫星高精度姿态确定和控制技术研究.西北工业大学硕士学位论文. 2001: 20~22
24 Jonathan Lawton, Randal W. Bread, Tim Mclain. Successive Galerkin Approximation of Nonlinear Optimal Attitude Control. ACC99-IEEE0220, 2005: 50~55
25 L. Makovec, Kristin. A Magnetic Controller for Tree-Axis Stability of Nanosatellites. Thesis. July 23, 2001: 30~33
26李勇,吴宏鑫.一类挠性航天器的变结构控制.控制工程. 1996(1): 55~59
27 A. P. Bukley. Hubble Space Telescope Pointing Control System Design Improvement Study. Guidance. Control and Dynamics. 1995, 18(2): 194~199
28 S. Grocott, J. How, D. Miller, D.MacMartin, K. Liu. Robust Control Design and Implementation on the Middeck Active Control Experiment. Guidance, Control and Dynamic. 1994, 17(6): 1163~1170
29 T. Kida, I. Yamaguchi, Y. Chida, Sekiguchi T. On-Orbit Robust Control ofFlexible Spacecraft ETS-VI. Thesis. Guidance, Control and Dynamic. 1997, 20(5): 865~872
30吴宏鑫.航天控制的发展方向——航天器智能自主控制.控制工程. 2001(5): 20~28
31解永春,牟小刚,吴宏鑫,李季苏.挠性航天器大角度机动的全系数自适应控制.控制工程. 1997(2): 45~51
32 H. K. Khalil著.非线性系统.朱义胜,董辉,李作洲等译.电子工业出版社, 2005: 78~80
33 J. J. E. Slotine, W. P. Li,应用非线性控制.程代展等译.机械工业出版社, 2006: 56~58
34李殿璞.非线性控制系统理论基础.哈尔滨工程大学出版社, 2006: 92-95
35 K. Zhou, J. C. Doyle, K. Glover. Robust and Optimal Control. New Jersey, Prentice-Hall, 1996: 46~47
36 W. Kang. Control of Spacecraft via Nonlinear H∞Method. Proceedings of the 33rd Conference on Decision and Control, Lake Buena Vista, FL, 1994: 921~926
37 W. Kang. Nonlinear H∞Control and Its Application to Rigid Spacecraft. IEEE Transanctions on Automatic Control. 1995, 40(7): 1281~1285
38 S. R. Vadali. Variable-structure Control of Spacecraft Large-angle Maneuvers. Journal of Guidance, Control and Dynamics. 1986, 9(2): 235~239
39 B. Q. Wang, K. Gong, D. Yang, J. F. Li. Fine Attitude Control by Reaction Wheels using Variable-Structure Controller. Acta Astronautica. 2003, 52: 613~618
40 S. H. Ding, S. H. Li. Sliding Mode Control of Spacecraft Attitude with Finite-Time Convergence. Proceedings of the 6th World Congress on Intelligent Control and Automation, Dalian, China. 2006: 830~834
41 V. I. Utkin. Variable Structure Systems with Sliding Modes. IEEE Transactions on Automatic Control. 1997, 22(2): 212~222
42 M. Lovera, A. Astolfi. Spacecraft Attitude Control Using Magnetic Actuators. Automatica. 2004, 40(8): 1405~1414
43 M. Lovera, A. Astolfi. Global Magnetic Attitude Control of Inertially Pointing Spacecraft. Journal of Guidance, Control and Dynamics. 2005, 28(5): 1065~1067
44 K. Subbarao. The Attitude Control Problem. Re-visited. Advances in the Astronautical Sciences. 2003, 115: 86~101
45 A. Ailon, R. Segev, B. Grinberg, M. Gil. Velocity-Free Controllers for Spacecraft Attitude Regulation Some Further Applications and Results. Proceedings of the 2001. IEEE International Conference on Control Applications, México City, México. 2001: 799~804
46段广仁.线性系统理论(第2版).哈尔滨,哈尔滨工业大学出版社. 2004: 156~162
47黄圳圭.航天器姿态动力学.国防科技大学出版社. 1997: 59~78
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