柔性航天器快速机动过程主动振动与姿态控制方法研究  

Flexible spacecraft attitude maneuver via adaptive sliding mode control and mixed component synthesis vibration suppression

作　　者：董超[1] 徐世杰 王浩[1] 张明星 薛普 DONG Chao;XU ShiJie;WANG Hao;ZHANG MingXing;XUE Pu(Beijing Institute of Space Long March Vehicle,Beijing 100076,China)

机构地区：[1]北京航天长征飞行器研究所,北京100076

出　　处：《中国科学：物理学、力学、天文学》2021年第10期38-50,共13页Scientia Sinica Physica,Mechanica & Astronomica

摘　　要：针对柔性航天器挠性附件振动与姿态机动耦合降低控制精度的问题,给出了一种混合分力合成主动振动控制方法,给出了若干定理并进行了理论证明.其次,系统参数波动及随机干扰因素不可忽略,对经典滑模控制器进行优化,形成一种新型自适应-滑模变结构控制器.为应对控制力矩抖振和系统参数鲁棒性差等缺点,引入新型滑模边界层和力矩更新率.最后,提出了将混合分力合成方法与姿态控制相结合的策略.借助压电智能材料实现两者的联合应用.仿真结果表明,改进的滑模变结构控制器可有效降低参数变动及外干扰影响,结合混合分力合成方法后,柔性附件残余振动得到了明显的控制,进一步提高了姿态精度.A mixed component synthesis vibration suppression method(MCSVS)is proposed to solve the problem of residual vibration of flexible attachments,which is difficult to control effectively.Theorems and inferences are provided,and their proofs are performed.Aiming at the problem that the attitude controllers cannot suppress the vibration of flexible attachments in spacecraft attitude maneuver,a strategy combining the MCSVS method with an attitude control method is proposed.Considering the existence of moment of inertia variation and external disturbance of spacecraft,an adaptive sliding mode variable structure controller is proposed.By introducing a sliding mode boundary layer and the update rate of the torque parameter,the disadvantages of torque chattering and parameter dependence are eliminated.Finally,the joint application of the MCSVS method and the adaptive variable structure controller is realized with the assistance of piezoelectric intelligent materials.Simulation results show that the control strategy without the MCSVS method cannot suppress the vibration of flexible attachments.After combining the MCSVS method with the attitude control method,the residual vibration is well controlled,and the attitude accuracy is improved.

关 键 词：柔性航天器 混和分力合成方法 主动振动-自适应滑模变结构控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]