基于气浮台的交会对接模拟及姿态跟踪控制  

Rendezvous and docking simulation and attitude tracking control based on air-bearing table

作　　者：黄成[1] 陈兴林[1] 王岩[1] 周乃新[1] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨150001

出　　处：《中国惯性技术学报》2015年第6期831-836,共6页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61174037);国家自然科学基金创新群体项目(61021002)

摘　　要：针对交会对接中卫星的姿态跟踪控制问题,设计了一种鲁棒有限时间控制算法。首先,设计并采用两个六自由度气浮台模拟交会对接的两颗卫星,搭建交会对接地面物理仿真系统。其次,应用姿态误差函数,推导描述气浮台追踪器相对于气浮台目标器姿态运动的姿态误差动力学模型。最后,基于此模型采用反步法思想给出了该控制算法的详细设计。李雅普诺夫理论推导和仿真结果表明,在存在边界未知的有界外界扰动的情况下,该控制算法可以使气浮台追踪器在20 s内实现对姿态随时间改变的气浮台目标器的准确跟踪,并保证系统的稳定性。To solve the problem of satellite attitude tracking control in rendezvous and docking, a robust finite-time control scheme is proposed. At first, two six-degree-of-freedom air-bearing tables are designed to simulate the two satellites for rendezvous and docking, and a physical ground simulation system for rendezvous and docking is developed. Then, by using an attitude error function, a dynamics model of the attitude error is established to describe the attitude motion of the air-bearing table tracer relative to the air-bearing table target. Finally, based on the model, the detailed design of the control algorithm is given by using the idea of backstepping method. Lyapunov theory and simulation results show that the air-bearing table tracker can realize in 20 s accurate tracking the attitude-variant air-bearing table target for bounded external disturbances with unknown bounds to guarantee the system＇s stability.

关 键 词：气浮台 姿态跟踪 有限时间控制 鲁棒性 反步法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]