深空探测柔性太阳帆航天器动力学建模与姿态控制  

Dynamic modeling and attitude control of flexible solar sail spacecraft for deep space exploration

作　　者：葛东明[1] 史纪鑫[1] 邹元杰[1] 邓润然 朱卫红[1] GE Dong-ming;SHI Ji-xin;ZOU Yuan-jie;DENG Run-ran;ZHU Wei-hong(Institute of Spacecraft System Engineering,Chinese Academy of Space Technology,Beijing 100094,China)

机构地区：[1]中国空间技术研究院,北京空间飞行器总体设计部,北京100094

出　　处：《控制理论与应用》2019年第12期2019-2027,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61690215,61640304,61573060,61203093,61803027);国家杰出青年科学基金项目(61525301)资助.

摘　　要：太阳帆利用太阳辐射压力提供太空航行的必要动力,由于具有理论上的无限速度和无需消耗任何燃料等优势,被认为是完成未来深空探测任务的有效技术途径之一.柔性太阳帆航天器的动力学模型包括多体动力学、刚柔耦合动力学和太阳辐射光压模型,复杂的动力学特性导致其姿态控制设计具有很强的挑战性.针对带有控制杆的柔性太阳帆航天器,本文采用拉格朗日方程和有限元法,给出了面向控制的解析式动力学模型.所推导的刚柔耦合动力学模型,刻画了太阳帆航天器的本质动力学特性,即双框架控制杆的短周期运动,姿态与柔性太阳帆的耦合效应,以及在太阳光压恢复力矩下的姿态静稳定性和长周期运动.基于带控制杆的太阳帆航天器的双时间尺度特性,提出了双回路控制结构,用于实现航天器俯仰轴和偏航轴的姿态控制.将内回路设计为PD控制器,用于实现质心位置的调整.将外回路设计为PID控制器,用于阻尼姿态运动,并实现在平衡太阳光压力矩下的姿态保持.从而将柔性太阳帆航天器的复杂姿态控制问题转化为两个低阶子问题,实现了在不同频带上的控制设计.仿真结果验证了动力学建模和姿态控制设计方法的有效性.The solar radiation pressure is used by solar sail to provide the necessary power for space navigation. Because of its infinite speed and no consumption of any fuel theoretically, it is considered as one of the most effective ways for future deep space exploration missions. The dynamics model of flexible solar sail spacecraft including multi-body dynamics, rigidflexible coupling dynamics and solar radiation pressure makes the attitude control design very challenging. In this paper, for a flexible solar sail spacecraft with a control boom, a control-oriented analytical model is derived by the Lagrange equation and finite element method. The deduced rigid-flexible coupling dynamics model characterizes the essential dynamics properties of the short-term motion of a two-axis gimbaled control boom, the coupling properties between attitude and flexible sail, and the long-term movement of statically stable attitude under solar pressure restoring torque. Based on the dual-time-scale property of the solar sail spacecraft with a control boom, a dual-loop control structure is proposed to change the pitch-axis and yaw-axis attitudes of the spacecraft by employing a gimbaled control boom. The inner-loop is designed as a proportional-derivative(PD) controller to realize the regulation of the center of mass. The outer-loop is intended to be a proportional-integral-derivative(PID) controller to damp the oscillating motion and maintain the desired attitude under balanced solar radiation pressure torque. Consequently, the full control problem is decomposed into two lowerorder subproblems, which are solved at different frequency bands. Finally, simulation results are presented to validate the dynamic modeling and attitude control approach.

关 键 词：太阳帆航天器 动力学建模 姿态控制 刚柔耦合 太阳光压 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]