柔性航天器预设性能及时间自抗扰姿轨跟踪控制  

Anti-disturbance Attitude Orbit Tracking Control with Prescribed Performance&Time for Flexible Spacecraft

作　　者：曹芊 贾庆贤 李化义[1] 马晨 何文韬 张迎春[1] CAO Qian;JIA Qingxian;LI Huayi;MA Chen;HE Wentao;ZHANG Yingchun(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China;School of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001 [2]南京航空航天大学航天学院,南京210016

出　　处：《宇航学报》2023年第1期99-109,共11页Journal of Astronautics

基　　金：国家自然科学基金青年基金项目(62003115)。

摘　　要：针对柔性航天器的姿轨机动及跟踪控制问题,首先基于模块化的多体动力学建模方法在SE(3)框架下建立柔性航天器的姿-轨-结构一体化动力学模型,其中航天器的位置、姿态使用李群SE(3)上的指数坐标来描述,然后进一步推导其相对动力学模型。在此基础上提出一种基于预定义性能及时间的积分滑模跟踪控制方法,通过引入预定义时间扰动观测器估计柔性附件弹性振动及空间环境的扰动,并在控制律中加入扰动估计结果的前馈补偿项,通过Lyapunov理论证明了系统的闭环稳定性和跟踪误差收敛性。该算法通过对状态误差的实时监测来调整执行器的输出,使控制器在系统存在柔性振动及空间环境干扰的情况下仍可实现高精度的姿轨跟踪。将其应用至柔性航天器姿轨跟踪系统中,仿真结果表明了该控制方案的有效性和实用性。Aiming at the attitude orbit maneuver and tracking control of flexible spacecraft,the attitude-orbit-structure integrated dynamics model of flexible spacecraft is established on the framework of SE(3)firstly based on the modular multi-body dynamics modeling method.The position and attitude of the spacecraft are described by the exponential coordinates on Lie group SE(3),and then the relative dynamics model is further derived.On this basis,an integral sliding mode tracking control method based on predefined performance and time is proposed.Among them,the elastic vibration of the flexible attachment and the disturbance of the space environment are observed by introducing a predefined time disturbance observer,and the feedforward compensation term of the disturbance observation is added to the control law.The closed-loop stability and tracking error convergence of the system are guaranteed by Lyapunov theory.The algorithm adjusts the output of the actuator through real-time monitoring of the state error,so that the controller can still achieve high-precision attitude and trajectory tracking in the presence of flexible vibration and space environment interference in the system.It is applied to the attitude and trajectory tracking system,and the simulation results show the effectiveness and practical feasibility of the control scheme.

关 键 词：柔性航天器 姿-轨-结构动力学 李群SE(3) 预设性能控制 预定义时间控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]