挠性多体卫星天线展开及指向控制的研究
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摘要
本论文以跟踪与数据中继卫星系统中的中继卫星为研究对象,为实现中继星连续跟踪用户星,进而实现中继星对用户星轨道的精确测定这一目的,对中继星S频段相控天线展开、中继卫星高精度天线跟踪指向控制等问题进行了较深入的研究。
描述了中继卫星在中继卫星系统中的作用和任务。利用Lagrange方程建立了相控天线展开的动力学模型,详细地推导了动力学方程中参数的求解过程,在考虑柔性耦合影响的基础上,对天线展开过程进行了数学仿真,并对仿真结果进行了分析。分析结果表明,此天线展开过程对卫星姿态影响不大,展开结束锁定过程中,惯性角速度和姿态角有小幅振动。
利用Lagrange方程建立了中继卫星动力学方程,分析了中继星天线的工作模式。研究了中继卫星天线跟踪用户星的跟踪规律和圆锥扫描模式下天线方位角与俯仰角的运动规律。
从工程应用角度,应用自抗扰控制理论,基于不确定的天线动力学模型,结合中继星天线工作模式与天线指向策略,设计了双环天线跟踪指向自抗扰控制系统,并进行了数学仿真。仿真结果表明,所设计的天线指向自抗扰控制系统能够实现天线俯仰通道和方位通道的解耦控制,完成天线跟踪指向控制的各种工作模式,并具有较高的跟踪指向精度。
The Object of this dissertation is Tracking and Data Relay Satellite in the Tracking and Data Relay Satellite System.Its aim is to achieve TDRS tracks the user satellite continuously and surveys and evaluates the orbit of the user satellite.These problems of S-Band Phased array antenna expansion and Tracking and Data Relay Satellite’s antenna high-precision Tracking and Pointing Control were studied.
The usage and task of Tracking and Data Relay Satellite in the Tracking and Data Relay Satellite System were described.The dynamics model of phased antenna expansion were built using the Lagrange equations. Solving process of some parameters in the dynamics model were detruded in detail Taking into account the effect of flexible coupling,the mathematical simulation of the dynamics equations was made,and the analysis of the simulation results was done too.The results show that the effect on the satellite attitude as a result of S-Band Phased array antenna expansion is weak,and that inertial angular velocity and attitude angle will have small vibration in the lock process
The satellite’s dynamics equation were built using the Lagrange equations,and the antenna operating modes were analysed.Then the tracking laws of Tracking and Data Relay Satellite’s antenna tracking the user satellite and the movement laws of the antenna’s azimuth and elevation angle in the conic scan mode were studied.
From the perspective of engineering applications,active disturbance rejection control theory was applied. Running mode and pointing strategy of TDRS antenna were combined.The double closerd-loop Active Disturbance Rejection Attitude Control system was designed based on the antenna dynamic model with uncertainty.Mathematical simulation of the control system was made out.The results show the system can realize decoupling of the antenna’s azimuth and elevation angle in various modes and Pointing accuracy is very high.
描述了中继卫星在中继卫星系统中的作用和任务。利用Lagrange方程建立了相控天线展开的动力学模型,详细地推导了动力学方程中参数的求解过程,在考虑柔性耦合影响的基础上,对天线展开过程进行了数学仿真,并对仿真结果进行了分析。分析结果表明,此天线展开过程对卫星姿态影响不大,展开结束锁定过程中,惯性角速度和姿态角有小幅振动。
利用Lagrange方程建立了中继卫星动力学方程,分析了中继星天线的工作模式。研究了中继卫星天线跟踪用户星的跟踪规律和圆锥扫描模式下天线方位角与俯仰角的运动规律。
从工程应用角度,应用自抗扰控制理论,基于不确定的天线动力学模型,结合中继星天线工作模式与天线指向策略,设计了双环天线跟踪指向自抗扰控制系统,并进行了数学仿真。仿真结果表明,所设计的天线指向自抗扰控制系统能够实现天线俯仰通道和方位通道的解耦控制,完成天线跟踪指向控制的各种工作模式,并具有较高的跟踪指向精度。
The Object of this dissertation is Tracking and Data Relay Satellite in the Tracking and Data Relay Satellite System.Its aim is to achieve TDRS tracks the user satellite continuously and surveys and evaluates the orbit of the user satellite.These problems of S-Band Phased array antenna expansion and Tracking and Data Relay Satellite’s antenna high-precision Tracking and Pointing Control were studied.
The usage and task of Tracking and Data Relay Satellite in the Tracking and Data Relay Satellite System were described.The dynamics model of phased antenna expansion were built using the Lagrange equations. Solving process of some parameters in the dynamics model were detruded in detail Taking into account the effect of flexible coupling,the mathematical simulation of the dynamics equations was made,and the analysis of the simulation results was done too.The results show that the effect on the satellite attitude as a result of S-Band Phased array antenna expansion is weak,and that inertial angular velocity and attitude angle will have small vibration in the lock process
The satellite’s dynamics equation were built using the Lagrange equations,and the antenna operating modes were analysed.Then the tracking laws of Tracking and Data Relay Satellite’s antenna tracking the user satellite and the movement laws of the antenna’s azimuth and elevation angle in the conic scan mode were studied.
From the perspective of engineering applications,active disturbance rejection control theory was applied. Running mode and pointing strategy of TDRS antenna were combined.The double closerd-loop Active Disturbance Rejection Attitude Control system was designed based on the antenna dynamic model with uncertainty.Mathematical simulation of the control system was made out.The results show the system can realize decoupling of the antenna’s azimuth and elevation angle in various modes and Pointing accuracy is very high.
引文
1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
2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
3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
4张春.径射状空间可展开天线的多体动力学分析.西北工业大学硕士论文,2007.5:6-8
5 J. L. Escalona. Application of the Absolute Nodal Co-ordinate Formulation to Multibody System Dynamics. Journal of Sound and Vibration,1998,214(5): 833-851
6 M. Berzeri and A.A. Shabana. Development of Simple Model for the Elastic Forces in the Absolute Noda Co-ordinate Formulation. Journal of Sound and Vibration,2000,235(4): 539-565
7 Tadashi Takano&Michihiro Natori.Charaeteristies Verifieation of A DePloyable On board Antenna of 10m Maximum Diameter. Acta Astronautica,2002,51(11): 771-778
8 R.E.Freeland.Large Inflatable Deployabe Antenna Flight Experiment Result.Acta Astronautica,1997,41(4): 267-277
9 Aira Meguro,Satoshi Harada etc.Technology status and the future of large deployable antennas. Space structure researeh group,IAC-02-1,1.01
10 S.D.Guest and S.Pellegrino.A New Concept for Solid Surface Deployable Atennas. Acta Astronautica,1996,38(2):103一113
11 Guido Sterbini. Analysis of satellite multibeam antennas’Performanees. Acta Astronautica,2006,59:166一174
12洪嘉振,尤超蓝.刚柔祸合系统动力学研究进展.动力学与控制学报,2004,2(2):l-5
13 G. Berretta, A. D. Agostini. The European Data Relay System: Present Concept and Future Evolution. Proceedings of the IEEE.1990,78(7): 1152-1164
14 Daniel L. Brandel, William A. Watson, etc. NASA’s Advanced Tracking and Data Relay Satellite System for the Years 2000 and Beyond. Proceedings of the IEEE.78(7): 1141-1151
15 Daniel Brandel. The Advanced Tracking and Data Relay Satellite System (ATDRSS): The Next Generation. AAS 88-207: 263-269
16 Q. Tham, J. H. Ly, R. Y. Chiang. Robust Antenna Pointing Control for TDRS Spacecraft. Proceedings of the 36th Conference on Decision and Control, San Diego, CA, USA, Dec 10-12,1997: 4938-4942
17 Quang Tham and Francis Lee. Robust Pointing Control of Spacecraft with Large Appendages. Proceedings of the 36th Conference on Decision and Control, Snowmass at Aspen, CO, USA, Feb 1-8 ,1997: 369-375
18 T. Tsujisawa, T. Yamashita. A High Performance Antenna Pointing Control Algorithm of an Inter-orbit Communication Satellite. Guidance, Navigation and Control Conference, San Diego, CA, USA, July 29-31, 1996: 1-8
19 R. Johnston and H. Downer. Fuzzy control and signal location for a satellite antenna. Second International Conference on‘Intelligent Systems Engineering’, Hamburg-Harburg, Germany ,September 5-9, 1994: 213-217
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韩京清.从PID到“自抗扰控制”技术.控制工程,2002,9(3):13-18
22冯光,黄立培,朱东起.异步电机的新型非线性自抗扰控制器的研究.清华大学学报,1999,39(3):30-33
23冯光,黄立培,朱东起.采用自抗扰控制器的高性能异步电机调速系统.中国电机工程学报,2001,21(10):55-58
24刘鸣,邵诚.异步电动机的自抗扰控制器及其参数整定.控制与决策.2003,18(5):540-544
25林飞,张春朋,宋文超等.基于扩张状态观测器的感应电机转子磁链观测.中国电机工程学报,2003,23(4):145-147
26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
27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
28 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
29 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
30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
31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
32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
33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
34 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
35 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
36 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
37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
38 W. Gawronnski and E. M. Craparo. Antenna Scanning Techniques for Estimation of Spacecraft Position. IEEE Antennas and Propagation Magazine,2002,44(6): 38-45
39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
40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
41 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
42 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
43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
44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
45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
46万晖.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
2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
3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
4张春.径射状空间可展开天线的多体动力学分析.西北工业大学硕士论文,2007.5:6-8
5 J. L. Escalona. Application of the Absolute Nodal Co-ordinate Formulation to Multibody System Dynamics. Journal of Sound and Vibration,1998,214(5): 833-851
6 M. Berzeri and A.A. Shabana. Development of Simple Model for the Elastic Forces in the Absolute Noda Co-ordinate Formulation. Journal of Sound and Vibration,2000,235(4): 539-565
7 Tadashi Takano&Michihiro Natori.Charaeteristies Verifieation of A DePloyable On board Antenna of 10m Maximum Diameter. Acta Astronautica,2002,51(11): 771-778
8 R.E.Freeland.Large Inflatable Deployabe Antenna Flight Experiment Result.Acta Astronautica,1997,41(4): 267-277
9 Aira Meguro,Satoshi Harada etc.Technology status and the future of large deployable antennas. Space structure researeh group,IAC-02-1,1.01
10 S.D.Guest and S.Pellegrino.A New Concept for Solid Surface Deployable Atennas. Acta Astronautica,1996,38(2):103一113
11 Guido Sterbini. Analysis of satellite multibeam antennas’Performanees. Acta Astronautica,2006,59:166一174
12洪嘉振,尤超蓝.刚柔祸合系统动力学研究进展.动力学与控制学报,2004,2(2):l-5
13 G. Berretta, A. D. Agostini. The European Data Relay System: Present Concept and Future Evolution. Proceedings of the IEEE.1990,78(7): 1152-1164
14 Daniel L. Brandel, William A. Watson, etc. NASA’s Advanced Tracking and Data Relay Satellite System for the Years 2000 and Beyond. Proceedings of the IEEE.78(7): 1141-1151
15 Daniel Brandel. The Advanced Tracking and Data Relay Satellite System (ATDRSS): The Next Generation. AAS 88-207: 263-269
16 Q. Tham, J. H. Ly, R. Y. Chiang. Robust Antenna Pointing Control for TDRS Spacecraft. Proceedings of the 36th Conference on Decision and Control, San Diego, CA, USA, Dec 10-12,1997: 4938-4942
17 Quang Tham and Francis Lee. Robust Pointing Control of Spacecraft with Large Appendages. Proceedings of the 36th Conference on Decision and Control, Snowmass at Aspen, CO, USA, Feb 1-8 ,1997: 369-375
18 T. Tsujisawa, T. Yamashita. A High Performance Antenna Pointing Control Algorithm of an Inter-orbit Communication Satellite. Guidance, Navigation and Control Conference, San Diego, CA, USA, July 29-31, 1996: 1-8
19 R. Johnston and H. Downer. Fuzzy control and signal location for a satellite antenna. Second International Conference on‘Intelligent Systems Engineering’, Hamburg-Harburg, Germany ,September 5-9, 1994: 213-217
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韩京清.从PID到“自抗扰控制”技术.控制工程,2002,9(3):13-18
22冯光,黄立培,朱东起.异步电机的新型非线性自抗扰控制器的研究.清华大学学报,1999,39(3):30-33
23冯光,黄立培,朱东起.采用自抗扰控制器的高性能异步电机调速系统.中国电机工程学报,2001,21(10):55-58
24刘鸣,邵诚.异步电动机的自抗扰控制器及其参数整定.控制与决策.2003,18(5):540-544
25林飞,张春朋,宋文超等.基于扩张状态观测器的感应电机转子磁链观测.中国电机工程学报,2003,23(4):145-147
26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
27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
28 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
29 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
30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
31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
32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
33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
34 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
35 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
36 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
37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
38 W. Gawronnski and E. M. Craparo. Antenna Scanning Techniques for Estimation of Spacecraft Position. IEEE Antennas and Propagation Magazine,2002,44(6): 38-45
39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
40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
41 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
42 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
43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
44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
45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
46万晖.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