Study on Active Disturbance Reject Attitude Control Technology of Multi-satellite Upper Stage
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摘要: 针对多星发射的运载火箭上面级在入轨段由于卫星分离产生的质量偏移，从而引起的三轴姿态严重耦合问题展开了研究，提出了基于广义扩张状态观测器的改进预测函数控制姿态控制方法.该控制方法将质心偏移造成上面级结构参数偏差和引入的干扰力矩以及其他未知系统参数偏差、外界扰动和未建模动态视为集总扰动，并将该非匹配干扰通过等效输入扰动技术转换为匹配干扰，由广义扩张状态观测器对变化后的系统状态和未知集总扰动同时观测.将集总扰动在反馈回路予以补偿保证了预测模型与上面级真实动力学模型有较高匹配度，进一步保证预测函数控制有较高的控制跟踪精度和较快的响应速度，并对外界扰动和参数偏差有较强的鲁棒性.文中算例仿真和性能对比验证了该方法的有效性及可行性.Abstract: For the issue of severe coupling attitude control of multi-satellite upper stage for sub satellite deploying, an improved predictive functional control (PFC) based on generalized extended state observer (GESO) is presented in this paper. All the structure parameter deviations of upper stage and induced disturbance torque that are resulted by centroid eccentricity, companied with system parameter deviation, external disturbance and unmodeled dynamics can be regarded as a lumped disturbance. This mismatched disturbance is converted into matched disturbance with equivalent-input-disturbance (EID) technique, and then estimated by GESO as well as the transformed system states in an integrated manner. The estimated lumped disturbance can be eliminated in a negative feedback loop, which promises that the predictive model always matches the real upstage dynamics model and further provides PFC with precise tracking, fast response, as well as strong robust against external disturbance and parameter deviation. A simulation example and a comparison with some prominent methods in the presence of significant disturbance and parameter uncertainty demonstrate the robustness and effectiveness of the proposed method.1) 本文责任编委 孙富春
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表 1 上面级RCS相关参数
Table 1 RCS parameter of upper stage
上面级RCS相关参数 参数值 主发动机推力 2000 N 主发动机至未偏心质心距离 2500 mm 低档RCS推力器推力 30 N 高档RCS推力器推力 300 N RCS推力器滚转力臂 500 mm RCS推力器偏航力臂 2500 mm RCS推力器俯仰力臂 2500 mm 
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