基于反步法与动态控制分配的航天器姿态机动控制  

Backstepping and dynamic control-allocation for attitude maneuver of spacecraft with redundant reaction fly-wheels

作　　者：李波[1] 胡庆雷[2] 石忠[1,3] 马广富[2] 

机构地区：[1]中国民航大学航空自动化学院,天津300300 [2]哈尔滨工业大学航天学院,黑龙江哈尔滨150001 [3]滨州职业学院,山东滨州256603

出　　处：《控制理论与应用》2012年第11期1419-1425,共7页Control Theory & Applications

基　　金：国家自然科学基金资助项目(61004072;61174200);高校博士点专项科研基金资助项目(20102302110031);2011年度教育部新世纪优秀人才计划资助项目

摘　　要：针对存在未知转动惯量与外部干扰的航天器姿态机动控制问题,提出了一类基于反步法的鲁棒自适应控制器,并利用Lyapunov方法分析了系统的稳定性;考虑到作为执行机构的反作用飞轮存在冗余性,进一步提出了一种基于约束最优二次规划的动态控制分配算法来实现指令到期望飞轮的指令分配,克服传统伪逆法难以考虑飞轮动态特性、最大力矩等物理约束,并能有效的抑制姿态敏感器的测量噪声和测量异常值,实现控制力矩的平稳性.最后,将本文提出的控制方案应用于某型轮控刚体航天器的姿态机动任务中,仿真结果验证了本文提出方法的可行性、有效性.We develop a robust adaptive controller based on the backstepping method for the attitude maneuver of the spacecraft with unknown rotational inertia and unknown external disturbances. The stability of the closed-loop system is validated by using Lyapunov analysis. In considering the redundancy of the actuators-the reaction fly-wheels, we pro- pose a dynamic allocation algorithm based on the constrained optimal quadratic programming for distributing the control command to the proper fly-wheel. This eliminates the physical restrictions on the fly-wheel characteristics and the limita- tion of the maximal torque, which are required in the conventional pseudo-inverse method. In addition, it also effectively suppresses the measurement noises and rejects the abnormal data from attitude sensors, improving the smoothness of the control torque. The proposed scheme has been applied to control the attitude maneuver of a wheel-control rigid spacecraft. Simulation results validate the efficacy of the proposed method.

关 键 词：航天器 反作用飞轮 反步法 二次规划 动态控制分配 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]