基于逆系统方法的航天器姿态跟踪最优鲁棒控制  

AN OPTIMAL AND ROBUST ATTITUDE-TRACKING CONTROL OF SPACECRAFT BASED ON INVERSE SYSTEM METHOD

作　　者：袁长清[1] 李俊峰[1] 王天舒[1] 宝音贺西[1] 

机构地区：[1]清华大学航天航空学院,北京100084

出　　处：《工程力学》2008年第2期214-218,共5页Engineering Mechanics

基　　金：国家自然科学基金资助项目(10302013)

摘　　要：针对航天器有效载荷(如星载天线、星载相机)快速持续指向地面或在轨特定目标等空间任务,研究了航天器姿态快速连续跟踪控制问题。提出了一种计算跟踪参考姿态的新方法,给出了目标姿态参数的解析表达式。大范围机动时,姿态动力学方程是强耦合非线性的,用传统鲁棒控制方法处理比较困难。用机动四元数描述姿态误差,以避免姿态跟踪可能产生的奇异。在考虑参数不确定性和干扰力矩的情况下,应用逆系统方法和输入不确定性鲁棒控制与最优控制转换定理,将鲁棒控制问题转化为最优控制问题,回避了传统鲁棒控制复杂的设计过程。控制器的设计方法简单,可应用于更复杂的对象,且参数选择具有很大的灵活性,易于工程实现。仿真结果表明:控制器具有良好的鲁棒性,较高的跟踪精度和快速响应能力。This paper deals with the attitude tracking control of spacecraft. For many space missions, spacecrafts are required to point their payload, such as high-gain antenna and high-gain camera, at a fixed target on the Earth or a moving target on orbit. A new method is presented to calculate the reference attitude angle, angular velocity and acceleration. An analytical expression is given. The attitude dynamics is strong-coupled and non-linear during large angle maneuver, thus it is dilTlcult to apply the traditional robust control design methods. On this account, error quatemion is introduced to describe the dynamics, which avoids the problem of singularity. Besides, in order to utilize the design of the robust controller, a desired approximate pseudo-linear system is obtained by inverse system method in the presence of model error and disturbances. Furthermore, based on the transition theorem between the robust control and the optimal control, the robust control problem is transformed into an optimal control problem. This approach can also be applied to more complex object such as multi-body spacecraft, and the simulation results are presented to demonstrate the effectiveness of the proposed design method.

关 键 词：航天器 姿态跟踪控制 逆系统方法 最优控制 鲁棒控制 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]