挠性卫星姿态机动三段式轨迹规划与滚动跟踪控制  

Three-segment trajectory plan and moving horizon tracking control of flexible satellite attitude maneuver

作　　者：范国伟[1,2] 王绍举 徐伟[1,2] 常琳 杨秀彬[1,2] 王旻 FAN Guo-wei;WANG Shao-ju;XU Wei;CHANG Lin;YANG Xiu-bin;WANG Min(Department of Space New Technology,Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun Jilin 130033,China;National and Local United Engineering Research Center of Small Satellite Technology,Changchun Jilin 130033,China)

机构地区：[1]中国科学院长春光学精密机械与物理研究所空间新技术室,吉林长春130033 [2]小卫星技术国家地方联合工程研究中心,吉林长春130033

出　　处：《控制理论与应用》2018年第9期1260-1271,共12页Control Theory & Applications

基　　金：国家自然科学基金项目(61503360;61705222);吉林省优秀青年人才基金项目(20180520216JH)资助~~

摘　　要：以多样成像模式对挠性敏捷卫星姿态的快速机动控制为需求,本文针对金字塔构型控制力矩陀螺(control moment gyroscope, CMG)群为执行机构的挠性卫星,提出基于三段式正弦角加速度的姿态路径规划方法及具有滚动优化思想的跟踪控制算法.在姿态机动路径规划方法设计中,融合谱分析及非线性优化方法,设计了兼顾卫星姿态机动快速性及抑制挠性附件振动性能的姿态轨迹;为实现对规划姿态轨迹的高精度跟踪,综合加权优化指标及奇异性、执行机构能力等约束,设计了金字塔构型CMG群框架角速度的非线性模型预测(nonlinear model predictive control, NMPC)跟踪控制律.在转动惯量存在测量误差及空间干扰情况下,多种姿态机动仿真表明,本文提出的控制方法是有效的,且表现出较强的鲁棒性.To satisfy the attitude rapid maneuver control requirements of various imaging modes,in this paper,the flexible satellite with the pyramid configuration control moment gyroscope(CMG)is considered,then the three-segment sine attitude trajectory planning method of angular acceleration and tracking algorithm with rolling optimization idea are proposed.In the design of attitude trajectory planning method,combining the spectrum analysis and nonlinear optimization method,the attitude trajectory which considers the performances of attitude rapid maneuver and vibration suppression is designed.To track the planed attitude trajectory accurately,taken the weighted optimization function,singularities of CMG and actuator’s capacity as the constraints,the tracking control law based on nonlinear model predictive control(NMPC)is presented for frame angular velocity of CMG groups.In the present of inertia deviation and space disturbances,a variety of attitude maneuver simulations are given.The results illustrate that,the proposed control method is effective and has the strong robustness.

关 键 词：挠性卫星 金字塔构型CMG群 快速机动 姿态轨迹规划 滚动跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]