摘要
随着航天技术的发展,人们对航天器姿态控制的要求越来越高。航天器的姿态控制精度不仅取决于姿态控制系统硬件配置的性能与精度,还与所采用的姿态控制算法密切相关。
滑模变结构控制由上世纪50年代前苏联学者Eme1yanov首先提出,是一种对系统内部参数摄动以及外界扰动具有很强的鲁棒性的控制方法,在航天器姿态控制领域展示了良好的应用前景。但是滑模变结构控制有一个其固有的缺点,就是当系统的运动状态到达滑动平面后,会在滑动平面附近产生高频抖振。为了削弱这种对于控制极其有害的抖振现象,本文选择了高阶滑模变结构控制算法。
论文对滑模变结构控制理论进行了一些研究,主要对滑模变结构控制律的设计及其抖振进行了探讨,总结了控制律设计的步骤及削弱抖振的方法。在上述理论基础上,阐述了高阶滑模的基本理论,着重分析了高阶滑模控制可以削弱抖振的原理。针对航天器转动惯量不确定、干扰力矩存在和控制输入受限的情况,设计了三轴稳定航天器的高阶滑模控制器。仿真结果表明,高阶滑模控制不仅保留了传统滑模的强鲁棒性优点,而且有效地削弱了抖振现象。
针对交会对接最后逼近段对相对姿态的高精度要求,论文利用高阶滑模控制设计了最后逼近段的姿—轨控制系统。制导策略采用基于Hill方程的直线型变结构制导律,姿态控制算法采用高阶滑模控制。仿真结果表明,所设计的控制系统满足对接要求。
With the development of the aerospace technology, the requirements for spacecraft attitude control are getting more and more complex. The accuracy of attitude control system depends not only on the performance of the hardware of the measurement, but also on the attitude control algorithm.
Sliding Mode Control (SMC) was firstly proposed by Emelyanov, a Soviet researcher, in the 1950s. It has a desirable perspective in spacecraft three-axis attitude control field because of SMC’s strong robust to system parameters variations and external disturbances, However, it has its own disadvantage that after the system state getting to the sliding surface, it will produce high frequency chattering around the sliding surface. To eliminate chattering phenomena which is very harmful to control, this paper studies High Order Sliding Mode(HOSM)control method for nonlinear systems.
The paper makes some research of SMC, especially the controller and the chattering. We summarize the design step of the controller and the methods of the weakening chattering. On the basis of the above-mentioned theories, HOSM control theory is expatiated, the reason of weakening chattering is introduced particularly. To solve the problem of the uncertainty of inertia moment, the disturbance torque and control input saturation, HOSM controller of three-axis stabilized spacecraft is designed. The results of simulation show that HOSM reserve all of advantages of traditional sliding mode, and attenuates chattering availably.
To achieve high precision requirement of final approach phase of space autonomous rendezvous and docking(RVD) on relative attitude, we use the HOSM controller to design Attitude and Orbit Control System of the final approach phase. A beeline guidance law based on the Hill equation is proposed in this paper. The attitude control strategy here use HOSM controller. The results of simulation show that the designed control system meet the requirement of docking.
引文
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