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SGCMGs驱动的挠性航天器有限时间自适应鲁棒控制

王璐 郭毓 吴益飞

王璐, 郭毓, 吴益飞. SGCMGs驱动的挠性航天器有限时间自适应鲁棒控制.自动化学报, 2021, 47(3): 641-651 doi: 10.16383/j.aas.c180446
引用本文: 王璐, 郭毓, 吴益飞. SGCMGs驱动的挠性航天器有限时间自适应鲁棒控制.自动化学报, 2021, 47(3): 641-651 doi: 10.16383/j.aas.c180446
Wang Lu, Guo Yu, Wu Yi-Fei. Finite-time adaptive robust control for SGCMGs-based flexible spacecraft. Acta Automatica Sinica, 2021, 47(3): 641-651 doi: 10.16383/j.aas.c180446
Citation: Wang Lu, Guo Yu, Wu Yi-Fei. Finite-time adaptive robust control for SGCMGs-based flexible spacecraft. Acta Automatica Sinica, 2021, 47(3): 641-651 doi: 10.16383/j.aas.c180446

SGCMGs驱动的挠性航天器有限时间自适应鲁棒控制

doi: 10.16383/j.aas.c180446
基金项目: 

国家自然科学基金 61973167

国家自然科学基金 61773211

国家自然科学基金 61673214

国家自然科学基金 61673219

详细信息
    作者简介:

    王璐  南京理工大学自动化学院博士. 主要研究方向为挠性航天器姿态控制. E-mail: timwang21@126.com

    吴益飞  南京理工大学自动化学院副教授. 主要研究方向为机器人控制, 伺服系统控制. E-mail: wuyifei0911@163.com

    通讯作者:

    郭毓  南京理工大学自动化学院教授. 主要研究方向为机器人控制, 航天器姿态控制. 本文通信作者. E-mail: guoyu@njust.edu.cn

  • 本文责任编委 倪茂林

Finite-time Adaptive Robust Control for SGCMGs-based Flexible Spacecraft

Funds: 

National Natural Science Foundation of China 61973167

National Natural Science Foundation of China 61773211

National Natural Science Foundation of China 61673214

National Natural Science Foundation of China 61673219

More Information
    Author Bio:

    WANG Lu  Ph. D. at the Automation School, Nanjing University of Science and Technology. His main research interest is flexible spacecraft attitude control

    WU Yi-Fei  Associate professor at the Automation School, Nanjing University of Science and Technology. His research interest covers robot control and servo system control

    Corresponding author: GUO Yu  Professor at the Automation School, Nanjing University of Science and Technology. Her research interest covers robot control and spacecraft attitude control. Corresponding author of this paper
  • Recommended by Associate Editor NI Mao-Lin
  • 摘要: 针对挠性航天器系统中同时存在单框架控制力矩陀螺群(Single gimbaled control moment gyroscopes, SGCMGs) 摩擦非线性、电磁干扰力矩、惯量摄动以及外部干扰等问题, 提出了一种有限时间自适应鲁棒控制(Finite-time adaptive robust control, FTARC) 方法. 针对系统中存在未知参数的情况, 分别设计自适应更新律, 使得控制器的设计不依赖参数信息, 同时减小外部干扰对系统的不利影响. 应用Lyapunov稳定性理论证明了闭环系统姿态角误差和姿态角速度误差可在有限时间内收敛到原点附近的邻域内. 仿真结果表明, 所提控制律可实现挠性航天器姿态快速机动, 并获得甚高指向精度.
    Recommended by Associate Editor NI Mao-Lin
    1)  本文责任编委 倪茂林
  • 图  1  SGCMGs驱动的挠性航天器姿态控制系统结构图

    Fig.  1  Structure diagram of attitude control system for SGCMGs-based flexible spacecraft

    图  2  基于SGCMGs的挠性航天器有限时间自适应鲁棒控制器结构图

    Fig.  2  Structure diagram of flnite-time adaptive robust control for SGCMGs-based flexible spacecraft

    图  3  姿态角响应及稳态放大图

    Fig.  3  Attitude angle and enlarged view of steady state

    图  4  姿态角速度响应及稳态放大图

    Fig.  4  Attitude angular velocity and enlarged view of steady state

    图  5  姿态误差四元数

    Fig.  5  Error of the attitude quaternion

    图  6  挠性附件模态

    Fig.  6  Flexible appendages Modes

    图  7  SGCMGs力矩输出响应

    Fig.  7  Profile of SGCMGs output torque

    图  8  奇异度量

    Fig.  8  Singularity measurement

    表  1  LuGre摩擦模型参数、控制律及操纵律参数

    Table  1  Parameters of LuGre friction model, control law and steering law

    参数类型 参数值
    LuGre摩擦模型参数及前馈环路增益 $\sigma_1 = 0.3\, \rm{Nm}$, $\sigma_2 = 0.5\, \rm{Nm}$, $\sigma_3 = 0.06\, \rm{Nm}\cdot \rm{s/rad}$,
    $F_ \rm{c} = 0.1\, \rm{Nm}$, $F_ \rm{s} = 0.12\, \rm{Nm}$, $V_ \rm{s} = 0.001\, \rm{rad/s}$, $K_G = 0.2$
    控制律参数 $k_1 = 2.5$, $k_2 = 0.1$, $k_3 = 500$, $k_4 = 0.1$, $g = 11, h = 13, g_1 = 7, h_1 = 9$, $\mu_a = \mu_b = 0.001$,
    $\gamma_J = 0.001, \gamma_{K_G} = \gamma_\sigma = \gamma_1 = \gamma_2 = 2$, $[\varGamma_J\; \varGamma_\sigma\; \varGamma_{K_G}\; \varGamma_1\; \varGamma_2]^{{\rm T}} = [1\; 0.1\; 0.01\; 1\; 0.001]^{{\rm T}}$
    操纵律参数 $W_i = i$ $(i = 1, 2, 3, 4)$, $\omega_0 = 1$, $\epsilon_0 = 10^{-4}$, $k_0 = 10$, $\alpha_0 = 10^{-5}$, $h_a = 100$
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出版历程
  • 收稿日期:  2018-06-25
  • 录用日期:  2018-11-22
  • 刊出日期:  2021-04-02

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