基于二阶全驱系统的航天器姿态避障控制  

Attitude maneuver control of spacecraft based on second⁃order fully actuated system under attitude constraints

作　　者：鲁明 陈雪芹[1] 吴凡 曹喜滨[1] LU Ming;CHEN Xueqin;WU Fan;CAO Xibin(Research Center of Satellite Technology,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学卫星技术研究所,哈尔滨150001

出　　处：《航空学报》2024年第1期94-102,共9页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(62303138,12372045,11972130);黑龙江省头雁计划项目。

摘　　要：针对航天器大角度姿态机动任务,考虑存在姿态禁止区域和干扰力矩影响,提出一种基于全驱系统模型的姿态机动控制方法。基于三维特殊正交群直接描述姿态运动并基于其李代数——指数坐标建立了误差姿态二阶全驱模型;提出基于三维特殊正交群的障碍李雅普诺夫函数,保证在其有界情况下姿态约束得到遵守;最后提出包含障碍李雅普诺夫函数的总李雅普诺夫函数,使用滑模技术并结合二阶全驱模型中参数矩阵的性质消除导数中的非线性项得到简洁的控制律。数值仿真结果显示,在所提出的控制方法作用下,航天器能够避开姿态禁止区域并收敛于期望姿态,并且稳态误差和控制能耗相比现有同类方法表现优异。An attitude maneuver control method based on a fully actuated system model is proposed for large-angle maneuvers of spacecraft in the presence of attitude forbidden region and disturbance torque.The attitude kinematics is developed on the 3-dimensional Special Orthogonal Group(SO(3)),and the second-order fully actuated model of er⁃ror attitude is established based on exponential coordinates,the corresponding Lie algebra of SO(3).The Barrier Ly⁃apunov Functions(BLFs)based on SO(3)are introduced to ensure that the attitude constraints are obeyed when the values of BLFs are bounded.Finally,the Total Lyapunov Function(TLF)containing the BLFs is developed and ana⁃lyzed.The nonlinear terms in the derivative of TLF are eliminated by using the sliding mode technique and the proper⁃ties of parameter matrices in the second-order fully actuated model to get a concise control law.Numerical simulation results indicate that using the proposed control method,the spacecraft converges to the desired attitude without enter⁃ing the attitude forbidden region,and the steady-state error and control energy consumption perform better than the existing methods.

关 键 词：全驱系统 李群 指数坐标 姿态机动控制 障碍李雅普诺夫函数 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]