考虑动量管理和能量存储的空间站姿态控制研究
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摘要
姿态控制技术是发展空间站待解决的关键技术之一。论文以载人航天三期空间站工程的关键技术预先研究为背景,系统地研究了考虑动量管理和能量存储的空间站姿态控制问题。全文主要研究成果如下:
发展了力矩平衡姿态的求解方法和稳定性判断方法。1)针对传统力矩平衡姿态求解方法复杂且求解精度低的不足,提出采用拟牛顿迭代法求解力矩平衡姿态非线性方程组,该方法提高了力矩平衡姿态的求解精度和效率;2)采用Lyapunov理论中求解导算子特征值的方法进行力矩平衡姿态稳定性研究,并通过仿真验证力矩平衡姿态作为平衡姿态的优点和用导算子的特征值判断力矩平衡姿态稳定性方法的有效性。
改进了空间站姿态控制与动量管理线性和非线性控制器。1)设计了一个基于力矩平衡姿态实时计算的自适应控制器,实现真正意义上的自适应控制;2)结合小脑模型神经网络控制的特点改进已有的反馈线性化非线性控制器,证明了改进后的控制器的稳定性;3)仿真验证了这两个控制器对姿态控制与动量管理控制的有效性。
研究总结了空间站四种常用角动量交换装置的姿态控制与能量存储特性。这四种常用角动量交换装置包括单框架控制力矩陀螺、变速控制力矩陀螺、飞轮、单框架控制力矩陀螺和飞轮混合机构。1)总结了单框架控制力矩陀螺进行姿态控制和其它三类机构进行姿态控制与能量存储的奇异性、角动量包络和操纵律特性;2)推导了金字塔构型变速控制力矩陀螺的避免奇异条件数;3)总结了这四类执行机构进行姿态控制与能量存储的优缺点。
研究提出了基于动量管理和基于动量反馈的两种姿态控制与能量存储框架。1)综合考虑姿态控制与动量管理和姿态控制与能量存储的优势,提出了考虑动量管理和考虑动量反馈的姿态控制与能量存储框架;2)证明了动量管理能使飞轮和变速控制力矩陀螺远离饱和和奇异,从理论上分析了动量反馈的稳定性条件,并通过仿真验证了这两个框架的有效性;3)总结了两种一体化框架的优缺点。
建立了空间站通用姿态控制框架。1)结合我国的实际情况,分析了我国未来空间站的姿态控制模式和可能的姿态控制角动量交换装置,设计了面向空间站长期在轨各种可能姿态控制任务的考虑动量管理和能量存储的通用姿态控制框架;2)给出了一类用于姿态对地定向和姿态机动的自抗扰控制器;3)基于设计的通用框架,进行设备正常或故障情况时包括姿态机动、姿态对力矩平衡姿态定向和姿态对地定向三种姿态控制任务的仿真,验证了该通用姿态控制框架的有效性和通用性。
论文拓展了现有的考虑动量管理和能量存储的空间站姿态控制的研究范畴,发展了力矩平衡姿态的稳定性判据,证明了基于动量管理和基于动量反馈的两种姿态控制与能量存储框架的稳定性,具有一定的理论意义;论文所研究的力矩平衡姿态计算方法、姿态控制与动量管理控制器、常用执行机构的姿态控制与能量存储特性分析以及空间站通用姿态控制框架考虑了工程设计需求,对发展我国空间站的姿态控制技术具有一定的参考价值。
Attitude control is a key technology for the development of the space station. With the background of China manned spaceflight advance study, the attitude control with momentum management and power storage is researched. The main results achieved in this dissertation are summarized as follows:
The method for solving torque equilibrium attitude (TEA) and the method for judging the stability of TEA are developed. 1) Facing the complexity and low-precision of the classical method for solving TEA, a new method to obtain TEA value is proposed to improve precision and effectiveness of solving TEA, in which TEA equations are transformed into a system of nonlinear equations and the TEAs are resolved with quasi-Newton Method from these nonlinear equations. 2) The Lyapunov theory is used to judge the stability of TEA by calculating all the characteristic vectors and eigenvalues of the differential operator. The advantages of TEA as a balance attitude and the effectiveness of the stability judge method of calculating all the characteristic vectors and eigenvalues of the differential operator are proved by simulation results.
A linear controller and a nonlinear controller are improved for Attitude Control/Momentum Management (ACMM). 1) An adaptive linear ACMM controller based on the in-line calculating TEAs is proposed, which achieves adaptiveness effectively. 2) An existed feedback linearized ACMM controller is improved with Cerebellar Model Articulation Control (CMAC), and the stability of the improved CMAC feedback controller is testified. 3) The ACMM can be controlled effectively by the adaptive linear controller and the CMAC feedback controller in this dissertation.
The characteristic of four kinds of angular momentum exchange actuators used for attitude control and power storage are studied and summarized. These four kinds of actuators include single gimbal control moment gyroscope(SGCMG) cluster, variable speed control moment gyroscope (VSCMG) cluster, flywheel cluster, SGCMG and flywheel mixed cluster. 1) The singularity, angular momentum envelope and steering laws of SGCMG cluster for attitude control and these characteristics of VSCMG cluster, flywheel cluster, SGCMG and flywheel mixed cluster for Integrated Power and Attitude Control System (IPACS) are summarized. 2) The condition of singularity avoidance of the standard pyramid configuration VSCMG cluster is derived. 3) The advantages and disadvantages of all these four types of actuators for attitude control and power storage are summarized.
Two frameworks for attitude control and power storage are proposed respectively based on momentum management and momentum feedback. 1) Integrating the merits of attitude control and IPACS, the momentum management based IPACS framework and the momentum feedback based IPACS framework are proposed. 2) It is testified theoretically that the momentum management keep the flywheel cluster and the VSCMG cluster away from saturation and singularity. The conditions of the stability for momentum feedback are analyzed. And the effectiveness of these two frameworks is proved by simulations. 3) The advantages and disadvangtages of these two frameworks are summarized.
An all-purposed framework for space station attitude control is established. 1) According to China actual conditions, the possible attitude control modes and the possible attitude control momentum exchange actuators are analysized and the all-purposed framework of attitude control combining momentum management and power storage is designed for all possible attitude control tasks for long on-orbit time. 2) An active disturbance rejection controller (ADRC) is designed for earth-pointing attitude hold and attitude maneuver in this framework. 3) The effectiveness and universalness of the all-purposed framework are testified by the simulation results of test cases of three attitude control tasks with power storage, two devices modes combining SGCMGs with flywheels, two normal cases and four failure cases.
This dissertation has some theoretical significance in extending the research domain of the current space station attitude control problem by combining momentum management and power storage, developing the TEA stability criterion, and proving the stability of the two proposed IPACS framework based on momentum management and based on momentum feedback. The method of resolving TEA, ACMM controllers, the performance analysis of the general angular momentum exchange actuators for IPACS, and the build of the all-purposed attitude control framework which all consider the pratical engineering requirements have some reference value for developimg China future space station attitude control technology.
发展了力矩平衡姿态的求解方法和稳定性判断方法。1)针对传统力矩平衡姿态求解方法复杂且求解精度低的不足,提出采用拟牛顿迭代法求解力矩平衡姿态非线性方程组,该方法提高了力矩平衡姿态的求解精度和效率;2)采用Lyapunov理论中求解导算子特征值的方法进行力矩平衡姿态稳定性研究,并通过仿真验证力矩平衡姿态作为平衡姿态的优点和用导算子的特征值判断力矩平衡姿态稳定性方法的有效性。
改进了空间站姿态控制与动量管理线性和非线性控制器。1)设计了一个基于力矩平衡姿态实时计算的自适应控制器,实现真正意义上的自适应控制;2)结合小脑模型神经网络控制的特点改进已有的反馈线性化非线性控制器,证明了改进后的控制器的稳定性;3)仿真验证了这两个控制器对姿态控制与动量管理控制的有效性。
研究总结了空间站四种常用角动量交换装置的姿态控制与能量存储特性。这四种常用角动量交换装置包括单框架控制力矩陀螺、变速控制力矩陀螺、飞轮、单框架控制力矩陀螺和飞轮混合机构。1)总结了单框架控制力矩陀螺进行姿态控制和其它三类机构进行姿态控制与能量存储的奇异性、角动量包络和操纵律特性;2)推导了金字塔构型变速控制力矩陀螺的避免奇异条件数;3)总结了这四类执行机构进行姿态控制与能量存储的优缺点。
研究提出了基于动量管理和基于动量反馈的两种姿态控制与能量存储框架。1)综合考虑姿态控制与动量管理和姿态控制与能量存储的优势,提出了考虑动量管理和考虑动量反馈的姿态控制与能量存储框架;2)证明了动量管理能使飞轮和变速控制力矩陀螺远离饱和和奇异,从理论上分析了动量反馈的稳定性条件,并通过仿真验证了这两个框架的有效性;3)总结了两种一体化框架的优缺点。
建立了空间站通用姿态控制框架。1)结合我国的实际情况,分析了我国未来空间站的姿态控制模式和可能的姿态控制角动量交换装置,设计了面向空间站长期在轨各种可能姿态控制任务的考虑动量管理和能量存储的通用姿态控制框架;2)给出了一类用于姿态对地定向和姿态机动的自抗扰控制器;3)基于设计的通用框架,进行设备正常或故障情况时包括姿态机动、姿态对力矩平衡姿态定向和姿态对地定向三种姿态控制任务的仿真,验证了该通用姿态控制框架的有效性和通用性。
论文拓展了现有的考虑动量管理和能量存储的空间站姿态控制的研究范畴,发展了力矩平衡姿态的稳定性判据,证明了基于动量管理和基于动量反馈的两种姿态控制与能量存储框架的稳定性,具有一定的理论意义;论文所研究的力矩平衡姿态计算方法、姿态控制与动量管理控制器、常用执行机构的姿态控制与能量存储特性分析以及空间站通用姿态控制框架考虑了工程设计需求,对发展我国空间站的姿态控制技术具有一定的参考价值。
Attitude control is a key technology for the development of the space station. With the background of China manned spaceflight advance study, the attitude control with momentum management and power storage is researched. The main results achieved in this dissertation are summarized as follows:
The method for solving torque equilibrium attitude (TEA) and the method for judging the stability of TEA are developed. 1) Facing the complexity and low-precision of the classical method for solving TEA, a new method to obtain TEA value is proposed to improve precision and effectiveness of solving TEA, in which TEA equations are transformed into a system of nonlinear equations and the TEAs are resolved with quasi-Newton Method from these nonlinear equations. 2) The Lyapunov theory is used to judge the stability of TEA by calculating all the characteristic vectors and eigenvalues of the differential operator. The advantages of TEA as a balance attitude and the effectiveness of the stability judge method of calculating all the characteristic vectors and eigenvalues of the differential operator are proved by simulation results.
A linear controller and a nonlinear controller are improved for Attitude Control/Momentum Management (ACMM). 1) An adaptive linear ACMM controller based on the in-line calculating TEAs is proposed, which achieves adaptiveness effectively. 2) An existed feedback linearized ACMM controller is improved with Cerebellar Model Articulation Control (CMAC), and the stability of the improved CMAC feedback controller is testified. 3) The ACMM can be controlled effectively by the adaptive linear controller and the CMAC feedback controller in this dissertation.
The characteristic of four kinds of angular momentum exchange actuators used for attitude control and power storage are studied and summarized. These four kinds of actuators include single gimbal control moment gyroscope(SGCMG) cluster, variable speed control moment gyroscope (VSCMG) cluster, flywheel cluster, SGCMG and flywheel mixed cluster. 1) The singularity, angular momentum envelope and steering laws of SGCMG cluster for attitude control and these characteristics of VSCMG cluster, flywheel cluster, SGCMG and flywheel mixed cluster for Integrated Power and Attitude Control System (IPACS) are summarized. 2) The condition of singularity avoidance of the standard pyramid configuration VSCMG cluster is derived. 3) The advantages and disadvantages of all these four types of actuators for attitude control and power storage are summarized.
Two frameworks for attitude control and power storage are proposed respectively based on momentum management and momentum feedback. 1) Integrating the merits of attitude control and IPACS, the momentum management based IPACS framework and the momentum feedback based IPACS framework are proposed. 2) It is testified theoretically that the momentum management keep the flywheel cluster and the VSCMG cluster away from saturation and singularity. The conditions of the stability for momentum feedback are analyzed. And the effectiveness of these two frameworks is proved by simulations. 3) The advantages and disadvangtages of these two frameworks are summarized.
An all-purposed framework for space station attitude control is established. 1) According to China actual conditions, the possible attitude control modes and the possible attitude control momentum exchange actuators are analysized and the all-purposed framework of attitude control combining momentum management and power storage is designed for all possible attitude control tasks for long on-orbit time. 2) An active disturbance rejection controller (ADRC) is designed for earth-pointing attitude hold and attitude maneuver in this framework. 3) The effectiveness and universalness of the all-purposed framework are testified by the simulation results of test cases of three attitude control tasks with power storage, two devices modes combining SGCMGs with flywheels, two normal cases and four failure cases.
This dissertation has some theoretical significance in extending the research domain of the current space station attitude control problem by combining momentum management and power storage, developing the TEA stability criterion, and proving the stability of the two proposed IPACS framework based on momentum management and based on momentum feedback. The method of resolving TEA, ACMM controllers, the performance analysis of the general angular momentum exchange actuators for IPACS, and the build of the all-purposed attitude control framework which all consider the pratical engineering requirements have some reference value for developimg China future space station attitude control technology.
引文
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