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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.
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关键词:
- 单框架控制力矩陀螺群 /
- 挠性航天器 /
- 有限时间自适应鲁棒控制 /
- 不确定性
Abstract: A flnite-time adaptive robust attitude controller is proposed for the flexible spacecraft, in which the friction nonlinearity and electromagnetic disturbance in the single gimbaled control moment gyroscopes (SGCMGs), inertia perturbation and external disturbance exist. Adaptive laws are designed to cope with the unknown parameters and the controller can be designed, regardless of the information of the parameters. The adverse efiect of external disturbance on the system is reduced. By means of Lyapunov stability theory, it has been proved that the error of the attitude angle and attitude angular velocity can converge to a small neighborhood containing origin. The simulation results show that, with the presented controller, the fast attitude maneuver with high precision can be achieved.-
Key words:
- Single gimbaled control moment gyroscopes (SGCMGs) /
- flexible spacecraft /
- flnite-time adaptive robust control (FTARC) /
- uncertainties
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
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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