无角速度测量的姿态跟踪动态PD控制  

Attitude tracking dynamic PD control without angular velocity measurements

作　　者：殷春武[1,2] 侯明善[2] 李明翔[2] YIN Chun-wu;HOU Ming-shan;LI Ming-xiang(School of Information and Control Engineering, Xi’an University of Architecture and Technology,Xi’an 710055, China;School of Automation, Northwestern Polytechnical University,Xi’an 710129, China)

机构地区：[1]西安建筑科技大学信息与控制工程学院,陕西西安710055 [2]西北工业大学自动化学院,陕西西安710129

出　　处：《电机与控制学报》2017年第12期107-116,共10页Electric Machines and Control

基　　金：西安建筑科技大学青年基金(QN1727);西安建筑科技大学青年基金(6040317017)

摘　　要：针对太阳帆板展开过程中存在系统切换和外部未知干扰的航天器姿态跟踪控制问题,提出了角速度可测和角速度不可测的姿态跟踪自适应动态比例微分(PD)控制器。本文先设计自适应更新律补偿外部复合干扰,提出了姿态角及角速度全状态可测的自适应PD控制器;接着针对角速度不可量测,基于无源控制理论给出估算角速度的动态观测器,提出一种仅有姿态角跟踪误差信息的变增益动态PD控制器,并理论证明了闭环系统的全局渐近稳定性;数值仿真验证了变增益动态PD控制器对太阳帆板展开过程中,航天器的姿态跟踪控制的鲁棒性和有效性。Two attitude tracking varying gain PD controllers,which consists of the angular velocitybased varying gain PD controller and the angular velocityfree varying gain dynamic PD controller,are proposed to investigate the spacecraft attitude stability control with mode of vibration and external disturbance.The adaptive update law was used to compensate for external disturbance,and an all state measurable adaptive PD controller was proposed.In the situation of angular velocity being unavailable,a dynamic adaptive PD controller used attitude angle tracking error calculate angular velocity,was designed by using passive control theory,and the global asymptotic stability was proved.Finally,a simulation of spacecraft attitude stability control for solar array unfolding shows the PD controller’robustness and availability.

关 键 词：姿态控制 角速度观测器 自适应控制 PD控制 无源控制 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]