挠性充液航天器复合自适应姿态机动控制  

Hybrid Adaptive Attitude Maneuver Control for Flexible Liquid-Filled Spacecraft

作　　者：宋晓娟[1,2] 李雪松 何晓东 吕书锋 SONG Xiaojuan;LI Xuesong;HE Xiaodong;LYU Shufeng(College of Mechanical Engineering,Inner Mongolia University of Technology,Hohhot 010051,China;Inner Mongolia Key Laboratory of Special Service Intelligent Robotics,Hohhot 010051,China;College of Science,Inner Mongolia University of Technology,Hohhot 010051,China)

机构地区：[1]内蒙古工业大学机械工程学院,呼和浩特010051 [2]内蒙古自治区特殊服役智能机器人重点实验室,呼和浩特010051 [3]内蒙古工业大学理学院,呼和浩特010051

出　　处：《空间控制技术与应用》2023年第1期11-20,共10页Aerospace Control and Application

基　　金：国家自然科学基金资助项目(11962020、12172182、11862020、52165059);内蒙古自治区高等学校青年科技英才支持计划(NJYT23029、NJYT23067);内蒙古自治区直属高校基本科研业务费(JY20220086、JY20220046)。

摘　　要：主要研究了刚-挠-液耦合航天器的大角度姿态机动问题.将液体燃料的晃动等效为二阶的弹簧质量模型,挠性帆板假设为欧拉-伯努利梁,考虑外部未知干扰力矩、系统的状态变量不可见以及姿态机动引起的液体晃动及挠性体振动的抑制问题,结合模糊控制和输入成型技术,设计了一种基于Lyapunov第二法的自适应输出反馈复合控制方法.其中模糊控制器用于动态优化复合控制器内的参数,增强其鲁棒性;多模态的输入成型前馈控制器用于抑制液体晃动和挠性附件振动的位移响应.数值模拟给出了各状态变量的时间历程图,仿真结果显示复合控制器在实现姿态跟踪误差渐近收敛的前提下明显地减小了液体晃动及挠性附件振动的位移响应,验证了本方法的有效性.In this paper, the large-angle attitude maneuver of a rigid-flexible-liquid coupled spacecraft is studied. The liquid sloshing is equivalent to the second-order spring mass model, and the flexible panels are assumed to be Euler-Bernoulli beams. Considering the situation that in actual space engineering, the spacecraft is subjected to unknown interfering torques, invisible state variables and oscillation suppression problems, an adaptive output feedback hybrid control method based on Lyapunov second method is designed combining with fuzzy control technology and input shaping technology. The fuzzy controller is used to dynamically optimize the parameters of the hybrid controller and enhance the robustness of the hybrid controller;the multi-mode input shaping feedforward controller is designed to suppress the liquid sloshing and vibrations of flexible attachments caused by the large-angle attitude maneuvering. The time history diagram of each state variable during spacecraft attitude maneuver is given by numerical simulation. The results verify the effectiveness of the hybrid control method.

关 键 词：刚-挠-液耦合航天器 动力学建模 自适应控制 模糊控制 输入成型 

分 类 号：V448[航空宇航科学与技术—飞行器设计]