考虑液体大幅晃动充液航天器的自适应非奇异快速终端滑模控制  

Adaptive non-singular fast terminal sliding mode control for liquid-filled spacecraft with large liquid sloshing

作　　者：范志文 宋晓娟[1,2] 时浩翔[1,2] 尹宏飞 涂雨晴 FAN Zhiwen;SONG Xiaojuan;SHI Haoxiang;YIN Hongfei;TU Yuqing(School of Mechanical Engineering,Inner Mongolia University of Technology,Hohhot 010051,China;Key Laboratory of Special Service Intelligent Robot of Inner Mongolia Autonomous Region,Inner Mongolia University of Technology,Hohhot 010051,China;Department of Mechanical and Electrical Engineering,Hulunbuir Vocational Technical College,Hulunbuir 021000,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]内蒙古工业大学内蒙古自治区特种服役智能机器人重点实验室,呼和浩特010051 [3]呼伦贝尔职业技术学院机电工程系,内蒙古呼伦贝尔021000

出　　处：《内蒙古工业大学学报（自然科学版）》2023年第4期318-323,共6页Journal of Inner Mongolia University of Technology：Natural Science Edition

基　　金：国家自然科学基金项目(11962020);内蒙古自治区高等学校青年科技人才项目(NJYT23029);内蒙古自治区高等学校创新团队发展计划(NMGIRT2213)。

摘　　要：针对考虑液体燃料大幅晃动的充液航天器进行姿态机动控制,研究控制系统中存在系统参数不确定、外部未知干扰以及测量不确定的充液航天器姿态控制系统,设计了一种自适应非奇异快速终端滑模控制器。将大幅晃动的液体燃料等效为运动脉动球模型,建立了液体大幅晃动航天器动力学方程。针对充液航天器姿态稳定问题,设计具有有限时间收敛且能避免奇异点的非奇异快速终端滑模面,使充液航天器可以快速达到姿态稳定;与此同时,设计自适应更新律估计集总扰动的未知上界。Lyapunov稳定性分析表明,在系统参数不确定、外部未知干扰、测量不确定和大幅液体晃动的影响下,所提出的自适应非奇异快速终端滑模控制能够保证系统的快速收敛特性,仿真分析验证了所提出控制器的有效性。An adaptive nonsingular fast terminal sliding mode controller is designed for the attitude maneuver control of liquid-filled spacecraft considering the large sloshing of liquid fuel.The attitude control system of liquid-filled spacecraft with system parameter uncertainty,external unknown disturbance and measurement uncertainty is studied.The liquid fuel with large sloshing is equivalent to a moving pulsating ball model,and the dynamic equation of the liquid sloshing spacecraft is established.Aiming at the problem of attitude stability of liquid-filled spacecraft,a nonsingular fast terminal sliding mode surface with finite time convergence and singularity avoidance is designed,so that the liquid-filled spacecraft can quickly achieve attitude stability.At the same time,an adaptive update law is designed to estimate the unknown upper bound of the lumped disturbance.Lyapunov stability analysis shows that the proposed adaptive nonsingular fast terminal sliding mode control can guarantee the fast convergence characteristics of the system under the influence of system parameter uncertainty,external unknown disturbance,measurement uncertainty and large liquid sloshing.Simulation analysis verifies the effectiveness of the proposed control strategy.

关 键 词：充液航天器 液体大幅晃动 非奇异快速终端滑模 姿态控制 

分 类 号：V448[航空宇航科学与技术—飞行器设计]