基于干扰观测器的航天器编队抓捕控制方法  

Study on spacecraft formation capture control method based on disturbance observer

作　　者：王小龙 孙冲[1] 方群[1] 李琪 宋硕 WANG Xiaolong;SUN Chong;FANG Qun;LI Qi;SONG Shuo(School of Astronautics, Northwestern Polytechnical University, Xi′an 710072, China;Xi′an Modern Control Technology Research Institute, Xi′an 710065, China)

机构地区：[1]西北工业大学航天学院,陕西西安710072 [2]西安现代控制技术研究所,陕西西安710065

出　　处：《西北工业大学学报》2021年第5期1012-1021,共10页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(11802238)资助。

摘　　要：在存在复合干扰的情况下,针对近距离低速翻滚空间非合作目标抓捕问题,提出了一种基于干扰观测器的多航天器协同避碰控制方法。建立了姿轨耦合的相对运动模型。利用干扰观测器对抓捕过程中的复合干扰进行估计并在控制律的设计中进行抵消。同时利用超二次曲面来描述空间非合作目标和抓捕航天器的外形,建立复合人工势场,并设计了具有避碰功能的鲁棒控制律。通过Lyapunov理论证明了该方法能够确保系统的闭环稳定性,并分析了系统的避碰性能。数值仿真结果验证了所提控制方案的有效性。In the presence of compound disturbances,a multi-spacecraft cooperative collision avoidance capture control method based on disturbance observer was proposed,which can solve the problem of low speed rolling non-cooperative target close-range capture in space.Firstly,a relative motion model of attitude and orbit coupling is established.Secondly,the disturbance observer is used to estimate and cancel the compound disturbance in the capture process.At the same time,the hyperquadric surfaces are used to describe the shape of space non-cooperative targets and capture spacecraft to establish a composite artificial potential field,and a robust control law with collision avoidance function is also designed.Finally,the stability of the controlled system is proved by using Lyapunov function,and the collision avoidance performance of the system is analyzed.Numerical simulations are carried out to evaluate the effectiveness of the proposed control scheme.

关 键 词：航天器编队 干扰观测器 协同避碰控制 非合作目标抓捕 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]