航天器主动隔振及精确定向控制技术研究
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摘要
基于智能作动器的多自由度主动隔振和精确跟踪定向在空间望远镜、预警卫星、空间激光通信、遥感卫星等先进航天器有着广泛应用。相对传统被动隔振,主动隔振对低频振动和随机振动有更好的抑制效果,并且智能作动器组成的多自由度平台可以对敏感载荷精确微操作,弥补本体姿态控制的不足。随着航天技术的飞速发展,现有的隔振技术难以满足敏感载荷对苛刻力学环境的要求,并且鲁棒性较差,智能作动器的精确建模和控制也需要深入研究,本文对航天器敏感载荷的多自由度主动隔振及精确定向展开研究。
分析证实主被动混合隔振可以实现零刚度或无穷大刚度,但这在控制上是一种对消方法,需要系统精确的参数值,并且性能的鲁棒性差,此外混合隔振主动杆的PID控制器对随机扰动的抑制也不满足要求,于是采用加速度反馈,考虑建模不确定性及其他约束条件,采用回路整形技术和加权函数法设计了多目标鲁棒H∞控制器,它对谐波和随机振动都有较好的隔振性能。当对象参数未知时,用多项式法设计了模型参考自适应控制器,自适应控制对随机振动具有更好的隔振性能和鲁棒性。由于其低频位移信号被放大,于是增加PID位移反馈构成MRAC-PID复合控制,抑制了低频位移振动,并进行跟踪定向。
作动器运动控制时需要考虑磁滞非线性,本文研究了Preisach磁滞模型的记忆效应,基于奇异值分解,采用最小二乘法对Preisach模型进行参数辨识,仿真证实具有较好的收敛性能,但是计算时间长,不利于实时估计。本文提出一种奇异值分解的在线修正方法,以离线辨识结果为初始值,实时估计参数值,辨识精度更高。利用参数辨识结果,设计了一种逆Preisach前馈补偿,线性化Preisach磁滞效应。并把这种辨识和补偿方法扩展到带有输入Preisach非线性的作动器,当磁滞输出不可测量时,首先采用低频输入信号辨识Preisach磁滞的参数值,然后对线性动力学部分进行辨识,最后采用逆Preisach补偿线性化磁滞效应,提高了参考跟踪性能。
对于四杆平台,采用MRAC-PID控制器对敏感载荷进行Tip/tilt二自由度主动隔振,用来镇定光束,取得较好的性能。对于Stewart平台,首先建立其动力学模型,并设计了多变量鲁棒H∞控制器进行六自由度主动隔振。此外,为了精确定向,并抑制姿态角抖振,采用H∞-PID复合控制,而第二章中的MRAC-PID复合控制也可以达到相似的性能,但是需要更大的计算能力和更高的执行带宽。此外,本文还分析了机械振动和航天器姿态抖振对图像的扭曲和模糊机理,仿真证实六自由度主动隔振可以提高成像质量。
本文研究了航天器精确定向问题,并指出姿态控制器设计时需要对扰动和传感器噪声进行折衷考虑。当小角度定向时,采用欧拉角描述姿态,并设计了模型匹配鲁棒H∞控制器,但是传感器噪声产生姿态抖振。针对柔性航天器轨道、姿态和柔性结构动力学的耦合特性,设计了状态反馈和输出反馈控制器进行大角度机动,此外为了减少噪声对微分环节的影响,设计了相应的微分器。为了克服大角度机动控制后的姿态抖振,设计了二级姿态控制系统,通过Stewart平台对敏感载荷局部六自由度主动隔振和姿态微操作,抑制了姿态抖振,达到了高精度跟踪定向的目标。
Multi degree-of-freedom(DOF) active vibration isolation and precision track-ing/pointing can be widely used in advanced spacecrafts, such as space telescopes, de-fense satellites and space laser communication. Compared with traditional passive isola-tion, active isolation can efficiently suppress random and sinusoid vibrations at low fre-quencies. Moreover, the accurate micro-steering of sensitive payload can also be providedby multi-DOF platform consisting of smart actuators, which overcomes the drawback ofattitude control of spacecraft body. With fast developing of astronautic technologies, itis difficult to satisfy strict requirements in dynamic environment only using current tech-niques of vibration isolation, and their robustness is not sufficient. Moreover, the accuratemodeling and control of smart actuators also needs to develop. In this thesis, multi-DOFactive vibration isolation and precision pointing of sensitive payloads are studied.
The analysis indicates that hybrid vibration isolation can provide zero and infinitestiffness. However, this is equivalent to a cancellation approach in control, which needsaccurate value of parameters and its robustness is not adequate. The isolation performanceof random vibrations using PID control for hybrid isolator is not satisfied. Then, withacceleration feedback, multi-objective robust H∞control is designed using loop shapingand weighting function techniques, which can isolate sinusoid and random vibrations withbetter performance. When the parameters of plant are unknown, model reference adaptivecontrol (MRAC) is designed using polynomial method, which has better performance androbustness. On the other hand, the displacements at low frequencies are amplified. Then,with additional displacement feedback, the MRAC-PID composite control suppresses thedisplacements at low frequencies and tracks the reference signal, simultaneously.
The hysteresis in smart actuators is one nonlinearity to consider while designing mo-tion controller. The memory characteristics of Preisach hysteresis in smart actuators areinvestigated. Based on singular value decomposition (SVD), the parameter of Preisachhysteresis is identified using least squares method, and its parameter convergence is sat-isfied. However, the computing is time consuming, which is not suitable for realtimeestimation. Thus, SVD online revision is presented, whose initial value is the off-lineidentification. The parameter estimation is computed in realtime, and better accuracy is provided. With the identification result, inverse Preisach feedforward is designed tolinearize the Preisach hysteresis. Moreover, this method is generalized to linear dynam-ics with input Preisach hysteresis. Without the hysteresis measurement, an equivalentPreisach hysteresis is identified using low frequency signal. Then, linear dynamics is alsoidentified. Finally, the inverse Preisach feedforward is used to compensate the hysteresisand the tracking performance is improved.
Tip/tilt angular vibration of the payload is adequately suppressed to stabilize laserusing 4-leg platform and MRAC-PID composite control. The dynamic model of Stewartplatform is derived. Then, Multi-input-multi-output (MIMO) robust H∞controller is de-signed. In order to obtain precision pointing and vibration suppression at low frequencies,H∞-PID composite control is designed. Moreover, the MRAC-PID control in chapter 2also obtains similar performance, but it needs more computing ability and high bandwidthcontrol. Image distortion and blur radii due to mechanical vibrations and attitude jitter isalso investigated, and the simulation results indicate that the image quality is improvedby 6-DOF active vibration isolation.
The problem of spacecraft precision pointing is investigated, indicating that sensornoise and disturbance suppression needs to be trade-off while designing controller. Eulerangular is used for small angular pointing. The model matching robust H∞controlleris designed for a rigid satellite. However, there is attitude jitter due to measurementnoise. Then, the dynamics of orbit, attitude and ?exible structure of ?exible spacecraftare derived and they couple each other. The attitude control with state and output feedbackis designed for large angular maneuvering. In order to reduce the noise affection and useoutput feedback, an composite differentiator is also designed. To address the problemof attitude jitter, two-stage attitude control is designed. One Stewart platform is used tolocally approach the function of 6-DOF vibration isolation and accurate attitude-steering.Finally, the attitude jitter suppression and fine pointing is obtained.
分析证实主被动混合隔振可以实现零刚度或无穷大刚度,但这在控制上是一种对消方法,需要系统精确的参数值,并且性能的鲁棒性差,此外混合隔振主动杆的PID控制器对随机扰动的抑制也不满足要求,于是采用加速度反馈,考虑建模不确定性及其他约束条件,采用回路整形技术和加权函数法设计了多目标鲁棒H∞控制器,它对谐波和随机振动都有较好的隔振性能。当对象参数未知时,用多项式法设计了模型参考自适应控制器,自适应控制对随机振动具有更好的隔振性能和鲁棒性。由于其低频位移信号被放大,于是增加PID位移反馈构成MRAC-PID复合控制,抑制了低频位移振动,并进行跟踪定向。
作动器运动控制时需要考虑磁滞非线性,本文研究了Preisach磁滞模型的记忆效应,基于奇异值分解,采用最小二乘法对Preisach模型进行参数辨识,仿真证实具有较好的收敛性能,但是计算时间长,不利于实时估计。本文提出一种奇异值分解的在线修正方法,以离线辨识结果为初始值,实时估计参数值,辨识精度更高。利用参数辨识结果,设计了一种逆Preisach前馈补偿,线性化Preisach磁滞效应。并把这种辨识和补偿方法扩展到带有输入Preisach非线性的作动器,当磁滞输出不可测量时,首先采用低频输入信号辨识Preisach磁滞的参数值,然后对线性动力学部分进行辨识,最后采用逆Preisach补偿线性化磁滞效应,提高了参考跟踪性能。
对于四杆平台,采用MRAC-PID控制器对敏感载荷进行Tip/tilt二自由度主动隔振,用来镇定光束,取得较好的性能。对于Stewart平台,首先建立其动力学模型,并设计了多变量鲁棒H∞控制器进行六自由度主动隔振。此外,为了精确定向,并抑制姿态角抖振,采用H∞-PID复合控制,而第二章中的MRAC-PID复合控制也可以达到相似的性能,但是需要更大的计算能力和更高的执行带宽。此外,本文还分析了机械振动和航天器姿态抖振对图像的扭曲和模糊机理,仿真证实六自由度主动隔振可以提高成像质量。
本文研究了航天器精确定向问题,并指出姿态控制器设计时需要对扰动和传感器噪声进行折衷考虑。当小角度定向时,采用欧拉角描述姿态,并设计了模型匹配鲁棒H∞控制器,但是传感器噪声产生姿态抖振。针对柔性航天器轨道、姿态和柔性结构动力学的耦合特性,设计了状态反馈和输出反馈控制器进行大角度机动,此外为了减少噪声对微分环节的影响,设计了相应的微分器。为了克服大角度机动控制后的姿态抖振,设计了二级姿态控制系统,通过Stewart平台对敏感载荷局部六自由度主动隔振和姿态微操作,抑制了姿态抖振,达到了高精度跟踪定向的目标。
Multi degree-of-freedom(DOF) active vibration isolation and precision track-ing/pointing can be widely used in advanced spacecrafts, such as space telescopes, de-fense satellites and space laser communication. Compared with traditional passive isola-tion, active isolation can efficiently suppress random and sinusoid vibrations at low fre-quencies. Moreover, the accurate micro-steering of sensitive payload can also be providedby multi-DOF platform consisting of smart actuators, which overcomes the drawback ofattitude control of spacecraft body. With fast developing of astronautic technologies, itis difficult to satisfy strict requirements in dynamic environment only using current tech-niques of vibration isolation, and their robustness is not sufficient. Moreover, the accuratemodeling and control of smart actuators also needs to develop. In this thesis, multi-DOFactive vibration isolation and precision pointing of sensitive payloads are studied.
The analysis indicates that hybrid vibration isolation can provide zero and infinitestiffness. However, this is equivalent to a cancellation approach in control, which needsaccurate value of parameters and its robustness is not adequate. The isolation performanceof random vibrations using PID control for hybrid isolator is not satisfied. Then, withacceleration feedback, multi-objective robust H∞control is designed using loop shapingand weighting function techniques, which can isolate sinusoid and random vibrations withbetter performance. When the parameters of plant are unknown, model reference adaptivecontrol (MRAC) is designed using polynomial method, which has better performance androbustness. On the other hand, the displacements at low frequencies are amplified. Then,with additional displacement feedback, the MRAC-PID composite control suppresses thedisplacements at low frequencies and tracks the reference signal, simultaneously.
The hysteresis in smart actuators is one nonlinearity to consider while designing mo-tion controller. The memory characteristics of Preisach hysteresis in smart actuators areinvestigated. Based on singular value decomposition (SVD), the parameter of Preisachhysteresis is identified using least squares method, and its parameter convergence is sat-isfied. However, the computing is time consuming, which is not suitable for realtimeestimation. Thus, SVD online revision is presented, whose initial value is the off-lineidentification. The parameter estimation is computed in realtime, and better accuracy is provided. With the identification result, inverse Preisach feedforward is designed tolinearize the Preisach hysteresis. Moreover, this method is generalized to linear dynam-ics with input Preisach hysteresis. Without the hysteresis measurement, an equivalentPreisach hysteresis is identified using low frequency signal. Then, linear dynamics is alsoidentified. Finally, the inverse Preisach feedforward is used to compensate the hysteresisand the tracking performance is improved.
Tip/tilt angular vibration of the payload is adequately suppressed to stabilize laserusing 4-leg platform and MRAC-PID composite control. The dynamic model of Stewartplatform is derived. Then, Multi-input-multi-output (MIMO) robust H∞controller is de-signed. In order to obtain precision pointing and vibration suppression at low frequencies,H∞-PID composite control is designed. Moreover, the MRAC-PID control in chapter 2also obtains similar performance, but it needs more computing ability and high bandwidthcontrol. Image distortion and blur radii due to mechanical vibrations and attitude jitter isalso investigated, and the simulation results indicate that the image quality is improvedby 6-DOF active vibration isolation.
The problem of spacecraft precision pointing is investigated, indicating that sensornoise and disturbance suppression needs to be trade-off while designing controller. Eulerangular is used for small angular pointing. The model matching robust H∞controlleris designed for a rigid satellite. However, there is attitude jitter due to measurementnoise. Then, the dynamics of orbit, attitude and ?exible structure of ?exible spacecraftare derived and they couple each other. The attitude control with state and output feedbackis designed for large angular maneuvering. In order to reduce the noise affection and useoutput feedback, an composite differentiator is also designed. To address the problemof attitude jitter, two-stage attitude control is designed. One Stewart platform is used tolocally approach the function of 6-DOF vibration isolation and accurate attitude-steering.Finally, the attitude jitter suppression and fine pointing is obtained.
引文
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