卫星姿态控制的变结构滑模控制方法  

Variable Structure Sliding Mode Control Method for Satellite Attitude Maneuver

作　　者：李由 史梦芯 LI You;SHI Mengxin(School of Space Science and Technology, Xidian University, Xi’an 710126, China)

机构地区：[1]西安电子科技大学空间科学与技术学院,西安710126

出　　处：《西安交通大学学报》2022年第7期56-66,共11页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(61903289)。

摘　　要：针对卫星姿态控制问题中经典滑模控制器存在的收敛速率方面的缺陷,提出了一种变结构滑模控制方法。在保持经典滑模控制器结构简单、鲁棒性强的优势前提下,通过对滑模参数进行设计来提高系统的收敛速率,并大幅度减小控制系统的控制力矩与姿态角速度。引入变结构动态滑模参数的概念,在系统尚未到达滑模面时维持经典滑模面结构,而在到达之后开始对滑模参数进行实时更新、放大;引入角速度与控制力矩约束,给出控制参数与系统性能指标之间的约束关系,防止系统状态超过其上界。通过Lyapunov稳定性理论及数值仿真对提出方法进行验证,实验结果表明:在合理设置实验参数条件下,所提的变结构滑模控制方法对比经典滑模控制方法收敛速率提高50%,系统的控制力矩和角速度全程不超过其上界。所提的变结构滑模控制方法不仅提高了系统的收敛速度,而且系统状态全程不超上界,这对系统控制和系统寿命有极大的益处。For low convergence rate of classic sliding mode controllers,a variable structure sliding mode control method for satellite attitude maneuver is proposed in this paper.Under the premise of maintaining the advantages of simple structure and strong robustness of classic sliding mode controllers,the convergence rate of the system is improved by designing the sliding mode parameters,and the control torque and attitude angular velocity of the control system are greatly reduced.The concept of dynamic sliding mode parameters with variable structure is introduced,the classic sliding mode surface structure is maintained when the system has not yet reached the sliding mode surface,and the sliding mode parameters are updated and enlarged in a realtime manner after it reaches the sliding mode surface.The angular velocity and control torque constraints are introduced,and the constraint relationship between the control parameters and the system performance index is given to prevent the system state from exceeding its upper bound.The proposed method is verified by Lyapunov stability theory and numerical simulation.The results show that under the condition of reasonable setting of experimental parameters,the proposed method improves the convergence rate by 50%compared with the classical sliding mode control method,and the control torque and angular velocity of the system do not exceed their upper bounds throughout the whole process.This is of great benefit to the system control and system life.

关 键 词：卫星姿态控制 变结构滑模 控制力矩约束 角速度约束 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]