基于干扰观测器的受扰卫星姿态控制器设计与优化  

Design and Optimization of Attitude Controller for Disturbed Satellite Based on Disturbance Observer

作　　者：谢方圆 张爱民[1] Xie Fangyuan;Zhang Aimin(Xi'an Jiaotong University,Xi'an 710049,China)

机构地区：[1]西安交通大学

出　　处：《航天控制》2019年第5期31-39,共9页Aerospace Control

摘　　要：对复杂环境下的卫星姿态控制进行了研究,针对存在外界干扰和转动惯量不确定的卫星姿态控制,建立了基于误差四元数卫星姿态动力学与运动学方程,在此基础上设计了反演滑模控制器,构造Lyapunov函数并从理论上证明了闭环系统的稳定性;设计非线性干扰观测器(NDO)对等效干扰进行估计,使控制器输出力矩减小,有效降低了输出饱和的风险,同时抑制了滑模控制带来的抖振;为了获得更好的控制效果,以控制器参数为优化变量,综合考虑了控制器的动态性能和被控对象的输入受限条件,建立了评价函数,利用改进的粒子群算法对控制器参数进行优化。仿真结果表明设计的控制器可行且有效,得到了较好的控制效果。In this paper,satellite attitude control in complex environment is studied. Aiming at satellite attitude control with external disturbance and uncertain moment of inertia,the attitude dynamics and kinematics equations based on error quaternion are established. On this basis,a backstepping sliding-mode controller is designed,Lyapunov function is established and the stability of the closed-loop system is theoretically proven. A nonlinear disturbance observer( NDO) is designed to estimate the equivalent disturbance and reduce the output of the controller. As a result,the risk of output saturation become smaller and the chattering caused by sliding mode control is restrained. In order to achieve better control effect,an evaluation function is established by taking the controller parameters as optimization variables and taking into account the dynamic performance of the controller and the input constraints of the controlled object. The improved particle swarm optimization algorithm is used to optimize the parameters of the controller. The simulation results show that the designed controller is feasible and effective,and good control effect is obtained.

关 键 词：卫星姿态 反演滑模控制 非线性干扰观测器 粒子群算法 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]