挠性卫星自适应模糊变结构控制的研究
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摘要
随着航天技术的发展,对卫星姿态控制系统精度的要求越来越高;同时挠性体在卫星中的普遍应用使得挠性卫星成为了人们关注和研究的焦点。本文以挠性卫星的姿态控制系统为研究对象,将变结构控制方法与模糊控制方法应用于卫星姿态控制系统中,设计了自适应模糊变结构控制器并进行了仿真。具体工作有以下几个方面:
首先,由于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,为了简化系统模型,方便设计姿态控制器,我们引入输入-输出(I/O)线性化的方法。利用输入-输出线性化方法将卫星姿态系统运动学模型和动力学模型转换为三个相互解耦的子系统。
针对解耦后的三个子系统,选择适当的切换函数和到达律,应用变结构控制原理中等效控制的方法设计了变结构控制器,给出了卫星姿态控制器的基本形式。仿真结果表明,所设计的变结构控制器对系统参数摄动及外部干扰具有较强的鲁棒性,动态性能良好。
变结构控制系统由于受到切换开关非理想等因素的影响,使得滑动模态会产生高频振荡,这就是变结构系统中的“抖振”问题,是变结构控制一个致命的缺点。本文利用模糊控制的智能化特点进行消除抖振问题的研究。用自适应模糊控制逼近滑模控制中非线性控制分量,推导了模糊规则参数调整的自适应律,在线调节自适应模糊控制器的参数。仿真结果表明自适应模糊控制的方法可以有效地改善变结构控制的抖振问题,并且在系统响应的动态性能方面也有很大的提高。
With the development of the astronautics technology,it gets higher and higher for the requirement of the precise of the satellite attitude control system. Meanwhile flexible satellite becomes the focus of the research and attention with the prevalent application of the flexible object. This assay takes satellite attitude control system as controlled object, involving variable structure method and fuzzy control method into control system. Besides, we also design an adaptive fuzzy viable structure controller and do the simulations. The main research of this thesis as following:
First, the satellite attitude control system is a multiple inputs and multiple outputs, coupling uncertain nonlinear system. In order to predigest the system mode and design attitude controller expediently, we introduce the method of Input-Output linearity. We transform kinematics and dynamic model of satellite attitude system into three uncoupling subsystems using Input-Output linearity method.
Aim at three uncoupling subsystems, we design variable structure controller and show the basal format of the controller using the method of equivalent control in variable structure control via select appropriate switch functions and reach laws. The simulation results shows that the controller has excellent robustness to the system uncertainties and the external disturbance, perfect dynamic performance。
Because of the influence of the unideal switch, the sliding mode can give birth to a high frequency surge, this is called“shake”which is a deadly disadvantage of variable structure control. In this text we investigate the shake using the intelligent characteristic of fuzzy control. We approach the nonlinear control heft using adaptive fuzzy control, extrusion the adaptive law of fuzzy rule and adjust the parameter of adaptive fuzzy controller on line. The simulation results shows that the adaptive fuzzy controller can improve the problem of shake of variable structure control, and can improve the dynamic response performance.
首先,由于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,为了简化系统模型,方便设计姿态控制器,我们引入输入-输出(I/O)线性化的方法。利用输入-输出线性化方法将卫星姿态系统运动学模型和动力学模型转换为三个相互解耦的子系统。
针对解耦后的三个子系统,选择适当的切换函数和到达律,应用变结构控制原理中等效控制的方法设计了变结构控制器,给出了卫星姿态控制器的基本形式。仿真结果表明,所设计的变结构控制器对系统参数摄动及外部干扰具有较强的鲁棒性,动态性能良好。
变结构控制系统由于受到切换开关非理想等因素的影响,使得滑动模态会产生高频振荡,这就是变结构系统中的“抖振”问题,是变结构控制一个致命的缺点。本文利用模糊控制的智能化特点进行消除抖振问题的研究。用自适应模糊控制逼近滑模控制中非线性控制分量,推导了模糊规则参数调整的自适应律,在线调节自适应模糊控制器的参数。仿真结果表明自适应模糊控制的方法可以有效地改善变结构控制的抖振问题,并且在系统响应的动态性能方面也有很大的提高。
With the development of the astronautics technology,it gets higher and higher for the requirement of the precise of the satellite attitude control system. Meanwhile flexible satellite becomes the focus of the research and attention with the prevalent application of the flexible object. This assay takes satellite attitude control system as controlled object, involving variable structure method and fuzzy control method into control system. Besides, we also design an adaptive fuzzy viable structure controller and do the simulations. The main research of this thesis as following:
First, the satellite attitude control system is a multiple inputs and multiple outputs, coupling uncertain nonlinear system. In order to predigest the system mode and design attitude controller expediently, we introduce the method of Input-Output linearity. We transform kinematics and dynamic model of satellite attitude system into three uncoupling subsystems using Input-Output linearity method.
Aim at three uncoupling subsystems, we design variable structure controller and show the basal format of the controller using the method of equivalent control in variable structure control via select appropriate switch functions and reach laws. The simulation results shows that the controller has excellent robustness to the system uncertainties and the external disturbance, perfect dynamic performance。
Because of the influence of the unideal switch, the sliding mode can give birth to a high frequency surge, this is called“shake”which is a deadly disadvantage of variable structure control. In this text we investigate the shake using the intelligent characteristic of fuzzy control. We approach the nonlinear control heft using adaptive fuzzy control, extrusion the adaptive law of fuzzy rule and adjust the parameter of adaptive fuzzy controller on line. The simulation results shows that the adaptive fuzzy controller can improve the problem of shake of variable structure control, and can improve the dynamic response performance.
引文
1胡庆雷.挠性航天器姿态机动的主动振动控制.哈尔滨工业大学博士学位论文.2006.
2宋斌.挠性卫星动力学分析和姿态控制研究.哈尔滨工业大学硕士学位论文.2004.
3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.
4 Floquet T, Perruquetti W, Barbot P. Angular Velocity Stabilization of a Rigid Body Via VSS Control. Journal of Dynamics Systems, Measurement and Control. 2000,122.
5张洪华,张国锋.带有挠性附件卫星的自适应内模控制.中国空间科学技术.2002,22(1).
6 Ying-Yuh lin, gern-Liang lin. General Attitude Maneuvers of Spacecraft with Flexible Structures. Journal of Dynamics Systems, Measurement and Control.1995,18(2).
7靳永强,刘向东,侯朝桢.航天器大角度姿态机动的自适应滑模控制.北京理工大学学报.2007,27(5):422~426.
8刘智平,周凤岐,周军.具有参数不确定性的飞行器的变结构姿态控制.宇航学报. 2007,28(1):43~48.
9周军,李季苏,牟小刚,吴宏鑫.挠性卫星的变结构控制方案研究.宇航学报. 1996,17(1):2~5.
10 Barry B, Goeree, Ernest D, Fasse. Sliding Mode Attitude Control of a Small Satellite for Ground Tracking Maneuvers. Proceedings of the American Control Conference.2000:1134~1138.
11张菊.导弹姿态控制系统的模糊变结构控制.哈尔滨工业大学硕士学位论.2006.
12管萍,刘小河,刘向杰.挠性卫星的变结构姿态控制.控制理论与应用.2007,24(3): 480~484.
13 Abdulhamitbilal E, Jafarov E M. Performances Comparison of Linear and Sliding Mode Attitude Controllers for Flexible Spacecraft with Reaction Wheels. Proceedings of The 2006 International Workshop on Variable StructureSystems,2006:351~358.
14 Guan P, Liu X J, and Liu X D. Flexible Satellite Attitude Control via Sliding Mode Technique. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005,2005:1258~1263.
15 Liu X J, Guan P. Fuzzy Sliding Mode Attitude Control of Satellite. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005,2005:1970~1975.
16 Li G X, Zhou J, Zhou F Q. Variable Structure Control for Flexible Spacecraft. Proceedings of the 25th Chinese Control Conference,2006:943~946.
17 Sahjendra N S, Ashok I. Nonlinear Decoupling Sliding Mode Control and Attitude Control of Spacecraft. IEEE Trans on Aerospace and Electronic Systems, 1989, 25(5): 621~ 633.
18 Elmali H, Olgao N. Satellite Attitude Control via Sliding Mode with Perturbation Estimation. IEEE Proceedings: Control Theory and Applications, 1996,143(3): 276~282.
19管萍,陈家斌,刘向东.基于自适应模糊与输入输出线性化的卫星姿态控制.控制与决策.2004,19(7):741~745.
20 Hsu F Y, Fu L C. Nonlinear Control of Space Probe Using Adaptive Fuzzy Sliding Mode Control. Proceedings of The IEEE/RSJ Int Conf on Satellite and Systems 95,1995,1(1):156-161.
21 Emami M R, Goldenberg A A, Turksen I B. A Robust Model-based Fuzzy-logic Controller for Space Probe. Proceedings of The IEEE/RSJ Int Conf on Satellite and Automation,1998,3(3):2500-2505.
22 Lee C C. Fuzzy Logic in Control System, Fuzzy Logic Controller, Part 1 and Part 2. IEEE Trans on Systems, Man, and Cybernetics,1990,20:404-435.
23 Han H, Su C Y, Stepanenko Y. Adaptive Control of A Class of Nonlinear Systems with Nonlinearly Parameterized Fuzzy Approximations. IEEE Trans on Fuzzy Systems,2001,9(2):315-323.
24赵懿.基于HLA的卫星姿态控制系统仿真研究.中国科学院硕士论文.2004:6,13~14.
25黄圳圭.航天器姿态动力学.国防科技大学出版社,1997:59~78.
26安文吉.模型三轴稳定卫星姿态确定及控制系统研究.哈尔滨工业大学硕士学位论文.2007.
27李军红.变结构控制抖振问题的研究及仿真.广东工业大学学位论文.2004.
28 Utkin V I. Sliding Modes and Their Application in Discontinuous Systems. Automat Remote Control.1974,21:1898~1907.
29 Utkin V I. Variable Structure Control Systems with Sliding Mode.IEEE Transactions on Automatic Control.1977(22):212~222.
30 Slotine J E.Sliding Controller Design for Non-linear Systems. Int.J.Control.1984. 40(22):421~434.
31 Chan S P. and Gao W B.,Approach Algorithm for Smooth Tracking with Variable Structure Controller.American Control Conference, Newyork, 1989.78~88.
32高为炳.变结构控制的理论及设计方法.中国科学出版社,1990:243~254.
33李忠娟,张新政.变结构控制理论中抖振问题的研究.五邑大学学报.2003,17 (3):66~69.
34王丰饶.滑模变结构控制.北京:科学出版社,1998.
35邹伟全,姚锡凡.滑模变结构控制的抖振问题研究.控制与检测. 2006, (1):53~55.
36陈玉宏.滑模控制抖振抑制的新方法.电子科技大学学报.1997,26(5): 520~524.
37李涛,冯勇,安澄全.变加权系数减小变结构控制系统抖振的设计方法.控制与决策.2000,15 (6):645~648.
38盛严,王超,陈建斌.变结构控制的指数趋近律改进方法.西安交通大学学报.2003,37 (1):108-110.
39顾文锦,赵红超,于进勇.自适应变结构控制的变斜率切换函数研究.弹箭与制导学报.2003,23 (4):1~4.
40胡跃明.变结构控制理论与应用.科学出版社,2003.
41达飞鹏,宋文忠.基于输入输出模型的模糊神经网络滑模控制.自动化学报.2001,26(1):13~139.
42李莹,邹经湘,张新政.滞后离散非线性系统基于NN预测的准滑模控制.哈尔滨工业大学学报.2000,32(6):111~118.
43肖淬艺,李医民.基于T-S模糊模型的自适应重构控制.科学技术与工程. 2007,7(24):6295~6300.
44 Bartolin G, Ferrara A, Utkin V I. Adaptive Sliding Mode Control in Discrete-time Systems. Automatica.1995,31(5):769~773.
45 Zhang Y, Wen C. Robust Adaptive Control of Uncertain Discrete-time Systems. Automatica.1999,35:321~329.
46 Hwang C. Fuzzy Linear Pulse-Transfer Function-based Sliding-Mode Control for Nonlinear Discrete-Time Systems. IEEE Trans.On Fuzzy Systems, 2002,(10):187~197.
47 LiY, Sundararajan N, Saratchdran P. Neura-Controller Design for Nonlinear Fighter Aircraft Maneuver Using Fully Tuned RBF Network Automatica,2001,37(8):1293-1301.
48 Tokat S, Eksin I. New Approaches for On-Line Tuning of The Linear Sliding Surface Slope in Sliding Mode Controllers. Turk J Elec Engin,2003,11(1):45-59.
49杨叔子,郑晓军.人工智能与诊断专家系统.西安交通大学出版社,1990:1~30.
50 Yeung D S, Tsang E C. A Comparative Study on Similarity-based Fuzzy Reasoning Methods. IEEE Transactions on Systems, Man and Cybernetics, 2007,27(2):216~227.
51王书斌,胡品慧,林立.基于T-S模糊模型的状态反馈预测控制.控制理论与应用.2007,25(5):819~824.
2宋斌.挠性卫星动力学分析和姿态控制研究.哈尔滨工业大学硕士学位论文.2004.
3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.
4 Floquet T, Perruquetti W, Barbot P. Angular Velocity Stabilization of a Rigid Body Via VSS Control. Journal of Dynamics Systems, Measurement and Control. 2000,122.
5张洪华,张国锋.带有挠性附件卫星的自适应内模控制.中国空间科学技术.2002,22(1).
6 Ying-Yuh lin, gern-Liang lin. General Attitude Maneuvers of Spacecraft with Flexible Structures. Journal of Dynamics Systems, Measurement and Control.1995,18(2).
7靳永强,刘向东,侯朝桢.航天器大角度姿态机动的自适应滑模控制.北京理工大学学报.2007,27(5):422~426.
8刘智平,周凤岐,周军.具有参数不确定性的飞行器的变结构姿态控制.宇航学报. 2007,28(1):43~48.
9周军,李季苏,牟小刚,吴宏鑫.挠性卫星的变结构控制方案研究.宇航学报. 1996,17(1):2~5.
10 Barry B, Goeree, Ernest D, Fasse. Sliding Mode Attitude Control of a Small Satellite for Ground Tracking Maneuvers. Proceedings of the American Control Conference.2000:1134~1138.
11张菊.导弹姿态控制系统的模糊变结构控制.哈尔滨工业大学硕士学位论.2006.
12管萍,刘小河,刘向杰.挠性卫星的变结构姿态控制.控制理论与应用.2007,24(3): 480~484.
13 Abdulhamitbilal E, Jafarov E M. Performances Comparison of Linear and Sliding Mode Attitude Controllers for Flexible Spacecraft with Reaction Wheels. Proceedings of The 2006 International Workshop on Variable StructureSystems,2006:351~358.
14 Guan P, Liu X J, and Liu X D. Flexible Satellite Attitude Control via Sliding Mode Technique. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005,2005:1258~1263.
15 Liu X J, Guan P. Fuzzy Sliding Mode Attitude Control of Satellite. Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005,2005:1970~1975.
16 Li G X, Zhou J, Zhou F Q. Variable Structure Control for Flexible Spacecraft. Proceedings of the 25th Chinese Control Conference,2006:943~946.
17 Sahjendra N S, Ashok I. Nonlinear Decoupling Sliding Mode Control and Attitude Control of Spacecraft. IEEE Trans on Aerospace and Electronic Systems, 1989, 25(5): 621~ 633.
18 Elmali H, Olgao N. Satellite Attitude Control via Sliding Mode with Perturbation Estimation. IEEE Proceedings: Control Theory and Applications, 1996,143(3): 276~282.
19管萍,陈家斌,刘向东.基于自适应模糊与输入输出线性化的卫星姿态控制.控制与决策.2004,19(7):741~745.
20 Hsu F Y, Fu L C. Nonlinear Control of Space Probe Using Adaptive Fuzzy Sliding Mode Control. Proceedings of The IEEE/RSJ Int Conf on Satellite and Systems 95,1995,1(1):156-161.
21 Emami M R, Goldenberg A A, Turksen I B. A Robust Model-based Fuzzy-logic Controller for Space Probe. Proceedings of The IEEE/RSJ Int Conf on Satellite and Automation,1998,3(3):2500-2505.
22 Lee C C. Fuzzy Logic in Control System, Fuzzy Logic Controller, Part 1 and Part 2. IEEE Trans on Systems, Man, and Cybernetics,1990,20:404-435.
23 Han H, Su C Y, Stepanenko Y. Adaptive Control of A Class of Nonlinear Systems with Nonlinearly Parameterized Fuzzy Approximations. IEEE Trans on Fuzzy Systems,2001,9(2):315-323.
24赵懿.基于HLA的卫星姿态控制系统仿真研究.中国科学院硕士论文.2004:6,13~14.
25黄圳圭.航天器姿态动力学.国防科技大学出版社,1997:59~78.
26安文吉.模型三轴稳定卫星姿态确定及控制系统研究.哈尔滨工业大学硕士学位论文.2007.
27李军红.变结构控制抖振问题的研究及仿真.广东工业大学学位论文.2004.
28 Utkin V I. Sliding Modes and Their Application in Discontinuous Systems. Automat Remote Control.1974,21:1898~1907.
29 Utkin V I. Variable Structure Control Systems with Sliding Mode.IEEE Transactions on Automatic Control.1977(22):212~222.
30 Slotine J E.Sliding Controller Design for Non-linear Systems. Int.J.Control.1984. 40(22):421~434.
31 Chan S P. and Gao W B.,Approach Algorithm for Smooth Tracking with Variable Structure Controller.American Control Conference, Newyork, 1989.78~88.
32高为炳.变结构控制的理论及设计方法.中国科学出版社,1990:243~254.
33李忠娟,张新政.变结构控制理论中抖振问题的研究.五邑大学学报.2003,17 (3):66~69.
34王丰饶.滑模变结构控制.北京:科学出版社,1998.
35邹伟全,姚锡凡.滑模变结构控制的抖振问题研究.控制与检测. 2006, (1):53~55.
36陈玉宏.滑模控制抖振抑制的新方法.电子科技大学学报.1997,26(5): 520~524.
37李涛,冯勇,安澄全.变加权系数减小变结构控制系统抖振的设计方法.控制与决策.2000,15 (6):645~648.
38盛严,王超,陈建斌.变结构控制的指数趋近律改进方法.西安交通大学学报.2003,37 (1):108-110.
39顾文锦,赵红超,于进勇.自适应变结构控制的变斜率切换函数研究.弹箭与制导学报.2003,23 (4):1~4.
40胡跃明.变结构控制理论与应用.科学出版社,2003.
41达飞鹏,宋文忠.基于输入输出模型的模糊神经网络滑模控制.自动化学报.2001,26(1):13~139.
42李莹,邹经湘,张新政.滞后离散非线性系统基于NN预测的准滑模控制.哈尔滨工业大学学报.2000,32(6):111~118.
43肖淬艺,李医民.基于T-S模糊模型的自适应重构控制.科学技术与工程. 2007,7(24):6295~6300.
44 Bartolin G, Ferrara A, Utkin V I. Adaptive Sliding Mode Control in Discrete-time Systems. Automatica.1995,31(5):769~773.
45 Zhang Y, Wen C. Robust Adaptive Control of Uncertain Discrete-time Systems. Automatica.1999,35:321~329.
46 Hwang C. Fuzzy Linear Pulse-Transfer Function-based Sliding-Mode Control for Nonlinear Discrete-Time Systems. IEEE Trans.On Fuzzy Systems, 2002,(10):187~197.
47 LiY, Sundararajan N, Saratchdran P. Neura-Controller Design for Nonlinear Fighter Aircraft Maneuver Using Fully Tuned RBF Network Automatica,2001,37(8):1293-1301.
48 Tokat S, Eksin I. New Approaches for On-Line Tuning of The Linear Sliding Surface Slope in Sliding Mode Controllers. Turk J Elec Engin,2003,11(1):45-59.
49杨叔子,郑晓军.人工智能与诊断专家系统.西安交通大学出版社,1990:1~30.
50 Yeung D S, Tsang E C. A Comparative Study on Similarity-based Fuzzy Reasoning Methods. IEEE Transactions on Systems, Man and Cybernetics, 2007,27(2):216~227.
51王书斌,胡品慧,林立.基于T-S模糊模型的状态反馈预测控制.控制理论与应用.2007,25(5):819~824.