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摘要: 为满足新颖成像模式对卫星姿态快速机动或对规划姿态的高精度跟踪控制需求，本文针对金字塔构型控制力矩陀螺（Control moment gyroscopes，CMG）群与反作用飞轮为联合执行机构的挠性敏捷卫星，提出一种融合以Legendre伪谱法实现卫星姿态及CMG群框架角速度最优规划的前馈控制、以非线性模型预测控制（Nonlinear model predictive control，NMPC）实现最优轨迹反馈跟踪的复合控制方法.在前馈控制律设计中，充分考虑了CMG群的力矩输出能力、奇异性及振动抑制性能等约束，规划获得了最优的CMG群框架角速度、卫星的姿态角及角速度.在反馈控制律设计中，以飞轮输出力矩能力、姿态机动快速性及能量为约束，设计了具有滚动优化思想的跟踪算法，补偿由于初始状态及转动惯量偏差等带来的控制误差.研究结果表明，在转动惯量存在偏差情况下，本文的控制方法仍是有效的，且表现出较强的鲁棒性.Abstract: To satisfy the needs of novel imaging modes for attitude rapid maneuver and high precision tracking control, a control strategy combining feedforward and feedback control is proposed for flexible satellite with hybrid actuator (pyramid configuration control moment gyroscopes (CMG) and reaction flywheel). In the design of feedforward control, to fully consider the constraints, such as torque output capacity of CMG group, singularity and vibration suppression performance, a Legendre pseudospectral method which could plan the optimal satellite attitude and frame angle rate of CMG group is presented. In the design of feedback control, with the torque capacity of flywheel, attitude rapid maneuver and energy constraints being the cost function, a tracking control algorithm based on nonlinear model predictive control (NMPC) is given to compensate the error of initial state and rotational inertia. The results show that, in the case of inertia error, the proposed control method is effective and shows a strong robustness.
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Key words:
- Agile satellite /
- rapid maneuver /
- hybrid actuator /
- trajectory optimization /
- moving horizon tracking
1) 本文责任编委 倪茂林 -
图 4 挠性敏捷卫星姿态控制方案框图
Fig. 4 Diagram of attitude control scheme for flexible agile satellite
图 5 金字塔构型CMG群系统坐标系示意图
Fig. 5 Diagram of coordinate system for pyramid configuration CMG groups
图 6 惯量匹配情况下的姿态大角度机动规划轨迹与实际轨迹曲线对比
Fig. 6 Comparison of planed trajectory and actual trajectory for attitude maneuver in the case of inertia matching
图 7 惯量匹配情况下的规划CMG框架角、角速度与实际飞轮控制力矩曲线
Fig. 7 Planed CMG frame angle, angular velocity and actual flywheel control torque curves in the case of inertia matching
图 8 惯量5 %偏差情况下的姿态大角度机动规划轨迹与实际轨迹曲线对比
Fig. 8 Comparison of planed trajectory and actual trajectory for attitude maneuver with inertia 5 % deviation
图 9 惯量5 %偏差情况下的规划CMG框架角、角速度与实际飞轮控制力矩曲线
Fig. 9 Planed CMG frame angle, angular velocity and actual flywheel control torque curves with inertia 5 % deviation
图 10 惯量匹配情况下的凝视成像姿态规划轨迹与实际轨迹曲线对比
Fig. 10 Comparison of planed trajectory and actual trajectory for staring imaging in the case of inertia matching
图 11 惯量匹配情况下的规划CMG框架角、角速度与实际飞轮控制力矩曲线
Fig. 11 Planed CMG frame angle, angular velocity and actual flywheel control torque curves in the case of inertia matching
图 12 惯量10 %偏差情况下的凝视成像姿态规划轨迹与实际轨迹曲线对比
Fig. 12 Comparison of planed trajectory and actual trajectory for staring imaging with inertia 10 % deviation
图 13 惯量10 %偏差情况下的规划CMG框架角、角速度与实际飞轮控制力矩曲线
Fig. 13 Planed CMG frame angle, angular velocity and actual flywheel control torque curves with inertia 10 % deviation
表 1 凝视成像过程中的姿态角及角速度约束
Table 1 Attitude angle and angular velocity constraints in staring imaging
过程约束 时间(s) 欧拉角$x\, (^\circ)$ 角速度$w_x\, (^\circ/\rm{s})$ 欧拉角$y\, (^\circ)$ 角速度$w_y\, (^\circ/\rm{s})$ 欧拉角$z\, (^\circ)$ 角速度$w_z\, (^\circ/\rm{s})$ 约束1 250 160.50 0.0297 66.27 –0.4677 163.00 0.0174 约束2 260 155.91 0.0350 70.75 –0.5141 157.61 0.0137 约束3 270 147.50 0.0377 75.40 –0.5590 148.50 0.0135 约束4 280 130.22 0.0391 79.71 –0.5952 130.40 0.0070 约束5 290 94.33 0.0376 82.07 –0.6304 93.91 0.0073 约束6 300 54.46 0.0380 80.19 –0.6499 53.12 0.0060 约束7 310 33.72 0.0351 75.39 –0.6599 31.53 0.0004 约束8 320 23.99 0.0385 69.64 –0.6493 20.96 –0.0015 约束9 330 18.81 0.0373 63.69 –0.6297 14.91 –0.0075 约束10 340 15.77 0.0326 57.87 –0.5962 11.02 –0.0070 
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