空间机动平台与武器载荷复合控制系统研究
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摘要
本文以未来空间战为研究背景,以我国未来空间机动平台及武器载荷为研究对象,采用非线性自抗扰控制技术,对空间机动平台台体姿态控制、武器载荷跟踪指向控制、空间机动平台姿态和武器载荷指向的复合控制进行了深入细致的研究。
本文首先利用Lagrange方程建立了空间机动平台台体动力学方程与武器载荷指向动力学方程,对空间机动平台动力学模型进行简化后,先设计了双闭环平台自抗扰姿态控制系统,该自抗扰控制器的设计几乎不依赖于机动平台具体动力学模型,实现姿态控制只需控制输入影响矩阵的估计值,而无需精确的平台动力学模型,从工程应用的角度出发,对此双闭环平台自抗扰姿态控制系统进行了多种条件下的仿真。通过仿真验证机动平台姿态自抗扰控制器具有较强的抗干扰性与较大范围的适用性。
基于自抗扰跟踪微分器的理论,结合武器载荷的工作模式和指向策略,设计了内外环武器载荷指向自抗扰控制系统。给出了武器载荷不同跟踪工作模式下跟踪微分器参数选择方法,在此基础上,与前面设计的姿态控制系统共同组成了空间机动平台台体姿态与武器载荷跟踪指向二级控制的复合控制系统,并且对复合控制系统进行仿真验证。仿真结果表明,复合控制器能够实现姿态三通道解耦控制、指向两通道解耦控制、台体姿态与载荷指向的解耦。提高了控制效率,满足空间机动平台对控制系统的控制精度与控制效率要求,说明所设计的自抗扰复合控制器能够满足空间机动平台与武器载荷指向的复合控制系统的要求。
The research background of this dissertationis the future space war,the research object is China’s future space maneuvering platform.Using Active Disturbance Rejection Control Technique to do deep research on space maneuvering platform attitude control, weapon load pointing control and the compound control of both.
A dynamic model is established by using Lagrange equation for the space maneuvering platform and Weapon Load in this paper. After simplified the dynamic model of space maneuvering platform.A double loop platform attitude active disturbance rejection controller was established.The design of this controller is almost independent of the accurately dynamic model.Only need a rough control input influence matrix to achieve attitude control.So the controller without the need of the accurate dynamic model.This double loop platform ADRC attitude control system is simulated under different conditions.Verify the platform ADRC attitude controller has strong anti-interference and wider range of applicability.
Based on tracking differentiator of ADRC theory.Combine the Weapon Load work mode and strategies of pointing of Weapon Load.Desgin a inside and outside double loop pointing ADRC control system.Different parameter selection method of tracking differentiator under different work mode of Weapon Load. On this basis.The attitude control system and pointing control system make up the compound control system.And simulated the compound control system.Compound control system simulation results show that compound control system can achieve platform attitude and weapon pointing decoupling control.The ADRC compound controller can meet the requirements of maneuvering platform and Weapon Load compound control system.
本文首先利用Lagrange方程建立了空间机动平台台体动力学方程与武器载荷指向动力学方程,对空间机动平台动力学模型进行简化后,先设计了双闭环平台自抗扰姿态控制系统,该自抗扰控制器的设计几乎不依赖于机动平台具体动力学模型,实现姿态控制只需控制输入影响矩阵的估计值,而无需精确的平台动力学模型,从工程应用的角度出发,对此双闭环平台自抗扰姿态控制系统进行了多种条件下的仿真。通过仿真验证机动平台姿态自抗扰控制器具有较强的抗干扰性与较大范围的适用性。
基于自抗扰跟踪微分器的理论,结合武器载荷的工作模式和指向策略,设计了内外环武器载荷指向自抗扰控制系统。给出了武器载荷不同跟踪工作模式下跟踪微分器参数选择方法,在此基础上,与前面设计的姿态控制系统共同组成了空间机动平台台体姿态与武器载荷跟踪指向二级控制的复合控制系统,并且对复合控制系统进行仿真验证。仿真结果表明,复合控制器能够实现姿态三通道解耦控制、指向两通道解耦控制、台体姿态与载荷指向的解耦。提高了控制效率,满足空间机动平台对控制系统的控制精度与控制效率要求,说明所设计的自抗扰复合控制器能够满足空间机动平台与武器载荷指向的复合控制系统的要求。
The research background of this dissertationis the future space war,the research object is China’s future space maneuvering platform.Using Active Disturbance Rejection Control Technique to do deep research on space maneuvering platform attitude control, weapon load pointing control and the compound control of both.
A dynamic model is established by using Lagrange equation for the space maneuvering platform and Weapon Load in this paper. After simplified the dynamic model of space maneuvering platform.A double loop platform attitude active disturbance rejection controller was established.The design of this controller is almost independent of the accurately dynamic model.Only need a rough control input influence matrix to achieve attitude control.So the controller without the need of the accurate dynamic model.This double loop platform ADRC attitude control system is simulated under different conditions.Verify the platform ADRC attitude controller has strong anti-interference and wider range of applicability.
Based on tracking differentiator of ADRC theory.Combine the Weapon Load work mode and strategies of pointing of Weapon Load.Desgin a inside and outside double loop pointing ADRC control system.Different parameter selection method of tracking differentiator under different work mode of Weapon Load. On this basis.The attitude control system and pointing control system make up the compound control system.And simulated the compound control system.Compound control system simulation results show that compound control system can achieve platform attitude and weapon pointing decoupling control.The ADRC compound controller can meet the requirements of maneuvering platform and Weapon Load compound control system.
引文
1 H. Schmeichel, T. T. McElroy. TDRSS Single-Access Control System. AAS 80-007: 115-146
2 Q. Tham, J. H. Ly, R. Y. Chiang. Robust Antenna Pointing Control for TDRS Spacecraft. IEEE.1997: 4938-4942
3 G. Berretta, A. D. Agostini. The European Data Relay System: Present Concept and Future Evolution. IEEE.1990,78(7): 1152-1164
4 Daniel L. Brandel, William A. Watson, etc. NASA’s Advanced Tracking and Data Relay Satellite System for the Years 2000 and Beyond. IEEE.78(7): 1141-1151
5 Daniel Brandel. The Advanced Tracking and Data Relay Satellite System (ATDRSS): The Next Generation. AAS 88-207: 263-269
6 T. Tsujisawa, T. Yamashita. A High Performance Antenna Pointing Control Algorithm of an Inter-orbit Communication Satellite. AIAA.1996: 1-8
7王景泉.国外跟踪与数据中继卫星系统及其技术的新发展(上).中国航天.1997,5:17-19
8王景泉.国外跟踪与数据中继卫星系统及其技术的新发展(下).中国航天.1997,6:19-24
9魏晨曦.跟踪与数据中继卫星系统的发展.中国航天. 2001,(11):14-18
10 V. Tamilia and L. Mazzini. Artemis Satellite Analysis and Performance Verification of the Antenna Pointing Control Systems using Flexible Multibody Dynamics Lagrangian Equation Modelization. IAF-98-A. 5. 07. 1998: 1- 9
11 R. Johnston and H. Downer. Fuzzy control and signal for a satellite antenna. IEE Intelligent System Engineering Conference, September 5-9, 1994: 213-216
12 D.J.Hei,(Faster,Better,Cheaper)Mission Operation Employing A Reusable Object Methodo,Proc. Of the 9th Annual AIAA/USU Conf. on Small Satellites,1995,71-81
13 Barry R M,Design of a distributed ground support system for small satellites,15th AIAA/USU Conf. on Small Satellites,2001,1-9
14太空飞行科技,http://express.cetin.net.cn/,2007-6-20
15中国航天科技信息,http://www.space.cetin.net.cn/,2007-6-20
16张元昭.空间机动平台自主管理系统体系结构研究.长沙:国防科技大学硕士学位论文,2007:2-3
17 Huangpao-Huang and Jingqing-Han. Nonlinear PID Controller and Its Applications in Power Plants. The proceedings of 2002 International Conference on Power System Technology, Kunming, China, October 13-17, 2002: 1513-1517
18 Yu Tao, Shen Shande, Zhu Shouzhen. Nonlinear Auto-disturbance-rejection Control of HVDC System. The proceedings of 2002 International Conference on Power System Technology, Kunming, China, Oct 13-17 2002: 2227-2230
19孙立明,李东海,姜学智.火电站球磨机制粉系统的自抗扰控制.清华大学学报,2003,43(6):779-781
20 H. Chris Tseng and Dennis W. Teo. Ship-Mounted Satellite Tracking Antenna with Fuzzy Logic Control. IEEE Transactions on Aerospace and Electronic Systems, 1998, 34(2): 639-645
21焦连伟,陈寿孙,王晓丰.电力系统自抗扰控制器.清华大学学报,1999,39(3):27-29
22高龙,韩俊生,李崇坚等.非线性鲁棒自抗扰控制器在电力系统中的应用.清华大学学报,2000,40(3):59-63
23余涛,沈善德,李东海等.汽轮发电机组汽门开度和励磁系统的自抗扰综合控制.电力系统自动化,2003,27(3):36-41
24宋金来,杨雨,许可康等.自抗扰控制在惯性导航系统初始对准中的应用.中国惯性技术学报.2001,9(4):11-14
25宋金来,杨雨,韩京清等.捷联式惯导系统静基快速初始对准方法的研究.系统仿真学报,14(10):1352-1354
26 Yi Huang,Z.W.Luo,M.Svinin. Extended State Observer Based Technique for Control of Robot Systems. Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, P.R.China, June 10-14, 2002: 2807-2811
27 SU Jian-Bo and QIU Wen-Bin. Robotic Calibration Free Hand-Eye Coordination Based on Auto Disturbances Rejection Controller. ACTA AUTOMATICA SINICA, 2003, 29(2): 161-167
28 Yi Huang, Kekang Xu, Jingqing Han, et al., Flight Control Design Using Extended State Observer and Non-smooth Feedback. IEEE CDC conference, December 2001: 223-228
29雷仲谋,吕振铎.非线性自抗扰控制器在航天器姿态控制系统中的应用.航天控制,2000,4:34-39
30 Huang Yi, Han J Q. A New Synthesis Method for Uncertain Systems: the Self-stable Region Approach. Int J Systems Sci, 1999, 30(1): 33-39
31 Huang Yi, Han J Q. The Self-stable Region Approach for Second Order Nonlinear Uncertain Systems. Proc 1999 IFAC World Congress, 1999, E: 135-140
32 Huang Yi, Han Jingqing. Analysis and Design for the Second Order Nonlinear Continuous Extended Sates Oserver. Chinese Science Bulletin. 2000, 45(21): 1938-1944
33黄一,韩京清.非线性连续二阶扩张状态观测器的分析和设计.科学通报.2000,45(13):1373-1379
34曲溪.中继系统用户星复合控制研究.哈尔滨工业大学硕士学位论文,2006.
35韩京清.自抗扰控制技术-估计补偿不确定因素的控制技术.国防工业出版社,2008.
36 Donald J. Leo, Daniel J. Inman. Pointing Control and Vibration Suppression of a Slewing Flexible Frame. Journal of Guidance, Control and Dynamics.1994,17(3): 529-536
37朱承元.挠性充液航天器的动力学与控制研究.哈尔滨:哈尔滨工业大学博士学位论文,2001:35-36
38万晖.自抗扰控制器的稳定性分析及应用.北京:中国科学院系统科学研究所博士论文,2001:33-40,41-50,61-63
39宋金来.自抗扰控制技术及其在高速、高精度武器系统中的应用.北京:中国科学院系统科学研究所博士论文,2002:28-34
40孙小松,杨涤,耿云海,杨旭.中继卫星天线指向控制策略研究.航空学报.2004,25(4):376-380
41彭东亮.大型挠性充液卫星的建模和控制研究.哈尔滨工业大学硕士学位论文.2000:35-44
42宋金来,甘作新,韩京清.自抗扰控制技术滤波特性的研究.控制与决策.2003,18(1):110-112
43 SU Jian-Bo and QIU Wen-Bin. Robotic Calibration Free Hand-Eye Coordination Based on Auto Disturbances Rejection Controller. ACTA AUTOMATICA SINICA, 2003, 29(2): 161-167
44韩京清,袁露林.跟踪—微分器的离散形式.系统科学与数学.1999,19(3):268-27
45 Zhiqiang Gao, Yi Huang, Jingqing Han. An Alternative Paradigm For Control System Design. Proceedings of the 40th IEEE Conference on Decision and Control. December 2001:4578-4585
46韩京清.自抗扰控制器及其应用.控制与决策,1998,13(1):19-23
47韩京清.一类不确定对象的扩张状态观测器.控制与决策,1995,10(1):85-88
48 Yi Huang,Z.W.Luo,M.Svinin. Extended State Observer Based Technique for Control of Robot Systems. Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, P.R.China, June 10-14, 2002: 2807-2811
49黄焕袍,万晖,韩京清.安排过渡过程是提高闭环系统“鲁棒性、适应性和稳定性”的一种有效办法.控制理论与应用.2001,18(增刊):89-94
50 W. Gawronnski and E. M. Craparo. Antenna Scanning Techniques for Estimation of Spacecraft Position. IEEE Antennas and Propagation Magazine,2002,44(6): 38-45
51王建立.挠性多体卫星天线展开及指向控制的研究.哈尔滨工业大学硕士学位论文,2009.
2 Q. Tham, J. H. Ly, R. Y. Chiang. Robust Antenna Pointing Control for TDRS Spacecraft. IEEE.1997: 4938-4942
3 G. Berretta, A. D. Agostini. The European Data Relay System: Present Concept and Future Evolution. IEEE.1990,78(7): 1152-1164
4 Daniel L. Brandel, William A. Watson, etc. NASA’s Advanced Tracking and Data Relay Satellite System for the Years 2000 and Beyond. IEEE.78(7): 1141-1151
5 Daniel Brandel. The Advanced Tracking and Data Relay Satellite System (ATDRSS): The Next Generation. AAS 88-207: 263-269
6 T. Tsujisawa, T. Yamashita. A High Performance Antenna Pointing Control Algorithm of an Inter-orbit Communication Satellite. AIAA.1996: 1-8
7王景泉.国外跟踪与数据中继卫星系统及其技术的新发展(上).中国航天.1997,5:17-19
8王景泉.国外跟踪与数据中继卫星系统及其技术的新发展(下).中国航天.1997,6:19-24
9魏晨曦.跟踪与数据中继卫星系统的发展.中国航天. 2001,(11):14-18
10 V. Tamilia and L. Mazzini. Artemis Satellite Analysis and Performance Verification of the Antenna Pointing Control Systems using Flexible Multibody Dynamics Lagrangian Equation Modelization. IAF-98-A. 5. 07. 1998: 1- 9
11 R. Johnston and H. Downer. Fuzzy control and signal for a satellite antenna. IEE Intelligent System Engineering Conference, September 5-9, 1994: 213-216
12 D.J.Hei,(Faster,Better,Cheaper)Mission Operation Employing A Reusable Object Methodo,Proc. Of the 9th Annual AIAA/USU Conf. on Small Satellites,1995,71-81
13 Barry R M,Design of a distributed ground support system for small satellites,15th AIAA/USU Conf. on Small Satellites,2001,1-9
14太空飞行科技,http://express.cetin.net.cn/,2007-6-20
15中国航天科技信息,http://www.space.cetin.net.cn/,2007-6-20
16张元昭.空间机动平台自主管理系统体系结构研究.长沙:国防科技大学硕士学位论文,2007:2-3
17 Huangpao-Huang and Jingqing-Han. Nonlinear PID Controller and Its Applications in Power Plants. The proceedings of 2002 International Conference on Power System Technology, Kunming, China, October 13-17, 2002: 1513-1517
18 Yu Tao, Shen Shande, Zhu Shouzhen. Nonlinear Auto-disturbance-rejection Control of HVDC System. The proceedings of 2002 International Conference on Power System Technology, Kunming, China, Oct 13-17 2002: 2227-2230
19孙立明,李东海,姜学智.火电站球磨机制粉系统的自抗扰控制.清华大学学报,2003,43(6):779-781
20 H. Chris Tseng and Dennis W. Teo. Ship-Mounted Satellite Tracking Antenna with Fuzzy Logic Control. IEEE Transactions on Aerospace and Electronic Systems, 1998, 34(2): 639-645
21焦连伟,陈寿孙,王晓丰.电力系统自抗扰控制器.清华大学学报,1999,39(3):27-29
22高龙,韩俊生,李崇坚等.非线性鲁棒自抗扰控制器在电力系统中的应用.清华大学学报,2000,40(3):59-63
23余涛,沈善德,李东海等.汽轮发电机组汽门开度和励磁系统的自抗扰综合控制.电力系统自动化,2003,27(3):36-41
24宋金来,杨雨,许可康等.自抗扰控制在惯性导航系统初始对准中的应用.中国惯性技术学报.2001,9(4):11-14
25宋金来,杨雨,韩京清等.捷联式惯导系统静基快速初始对准方法的研究.系统仿真学报,14(10):1352-1354
26 Yi Huang,Z.W.Luo,M.Svinin. Extended State Observer Based Technique for Control of Robot Systems. Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, P.R.China, June 10-14, 2002: 2807-2811
27 SU Jian-Bo and QIU Wen-Bin. Robotic Calibration Free Hand-Eye Coordination Based on Auto Disturbances Rejection Controller. ACTA AUTOMATICA SINICA, 2003, 29(2): 161-167
28 Yi Huang, Kekang Xu, Jingqing Han, et al., Flight Control Design Using Extended State Observer and Non-smooth Feedback. IEEE CDC conference, December 2001: 223-228
29雷仲谋,吕振铎.非线性自抗扰控制器在航天器姿态控制系统中的应用.航天控制,2000,4:34-39
30 Huang Yi, Han J Q. A New Synthesis Method for Uncertain Systems: the Self-stable Region Approach. Int J Systems Sci, 1999, 30(1): 33-39
31 Huang Yi, Han J Q. The Self-stable Region Approach for Second Order Nonlinear Uncertain Systems. Proc 1999 IFAC World Congress, 1999, E: 135-140
32 Huang Yi, Han Jingqing. Analysis and Design for the Second Order Nonlinear Continuous Extended Sates Oserver. Chinese Science Bulletin. 2000, 45(21): 1938-1944
33黄一,韩京清.非线性连续二阶扩张状态观测器的分析和设计.科学通报.2000,45(13):1373-1379
34曲溪.中继系统用户星复合控制研究.哈尔滨工业大学硕士学位论文,2006.
35韩京清.自抗扰控制技术-估计补偿不确定因素的控制技术.国防工业出版社,2008.
36 Donald J. Leo, Daniel J. Inman. Pointing Control and Vibration Suppression of a Slewing Flexible Frame. Journal of Guidance, Control and Dynamics.1994,17(3): 529-536
37朱承元.挠性充液航天器的动力学与控制研究.哈尔滨:哈尔滨工业大学博士学位论文,2001:35-36
38万晖.自抗扰控制器的稳定性分析及应用.北京:中国科学院系统科学研究所博士论文,2001:33-40,41-50,61-63
39宋金来.自抗扰控制技术及其在高速、高精度武器系统中的应用.北京:中国科学院系统科学研究所博士论文,2002:28-34
40孙小松,杨涤,耿云海,杨旭.中继卫星天线指向控制策略研究.航空学报.2004,25(4):376-380
41彭东亮.大型挠性充液卫星的建模和控制研究.哈尔滨工业大学硕士学位论文.2000:35-44
42宋金来,甘作新,韩京清.自抗扰控制技术滤波特性的研究.控制与决策.2003,18(1):110-112
43 SU Jian-Bo and QIU Wen-Bin. Robotic Calibration Free Hand-Eye Coordination Based on Auto Disturbances Rejection Controller. ACTA AUTOMATICA SINICA, 2003, 29(2): 161-167
44韩京清,袁露林.跟踪—微分器的离散形式.系统科学与数学.1999,19(3):268-27
45 Zhiqiang Gao, Yi Huang, Jingqing Han. An Alternative Paradigm For Control System Design. Proceedings of the 40th IEEE Conference on Decision and Control. December 2001:4578-4585
46韩京清.自抗扰控制器及其应用.控制与决策,1998,13(1):19-23
47韩京清.一类不确定对象的扩张状态观测器.控制与决策,1995,10(1):85-88
48 Yi Huang,Z.W.Luo,M.Svinin. Extended State Observer Based Technique for Control of Robot Systems. Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, P.R.China, June 10-14, 2002: 2807-2811
49黄焕袍,万晖,韩京清.安排过渡过程是提高闭环系统“鲁棒性、适应性和稳定性”的一种有效办法.控制理论与应用.2001,18(增刊):89-94
50 W. Gawronnski and E. M. Craparo. Antenna Scanning Techniques for Estimation of Spacecraft Position. IEEE Antennas and Propagation Magazine,2002,44(6): 38-45
51王建立.挠性多体卫星天线展开及指向控制的研究.哈尔滨工业大学硕士学位论文,2009.