挠性航天器的自耦PD姿态控制方法  

Auto-Coupling PD Attitude Control Method for Flexible Spacecraft

作　　者：黄利容 曾喆昭[1] 曾鹏[1] HUANG Lirong;ZENG Zhezhao;ZENG Peng(Changsha University of Science and Technology,Changsha 410076,China)

机构地区：[1]长沙理工大学,长沙410076

出　　处：《空间控制技术与应用》2024年第1期75-83,共9页Aerospace Control and Application

基　　金：湖南省教育厅重点项目(21A0183);长沙理工大学研究生科研创新项目(CXCLY2022085)

摘　　要：针对存在模型参数不确定以及受到外部干扰的挠性航天器的高精度姿态控制和主动振动抑制问题,根据自耦PID(auto-coupling proportional integral derivative,ACPID)控制理论提出了一种简单的自耦PD(auto-coupling proportional derivative,ACPD)控制方法.将挠性航天器姿态运动的已知和未知内部动态以及外部干扰定义为一个总扰动,进而将其等价映射为一个二阶线性扰动系统.据此构建了在复合总扰动反相激励下的受控误差系统,根据ACPID控制理论分别设计了ACPD姿态控制器和ACPD主动振动控制器,并分析了每个系统的鲁棒稳定性和抗扰动鲁棒性.仿真试验结果表明,ACPD姿态控制器对姿态角指令有较好的跟踪性能,ACPD主动振动控制器也能有效地抑制挠性附件的振动.Aiming at the problems of high precision attitude control and active vibration suppression of flexible spacecraft with uncertain model parameters and external interference,a simple ACPD(auto-coupling proportional derivative)control method was proposed based on the ACPID(auto-coupling proportional integral derivative)control theory.The known and unknown internal dynamics and external disturbances of the attitude motion of a flexible spacecraft are defined as a total disturbance,which is equivalent mapped to a second-order linear disturbance system.Based on this,the controlled error system under the combined total disturbance reversed phase excitation is constructed,and the ACPD attitude controller and the ACPD active vibration controller are designed respectively according to the ACPID control theory.The robust stability and anti-disturbance robustness of each system are analyzed.The simulation results show that the ACPD attitude controller has good tracking performance for the attitude angle instruction,and the ACPD active vibration controller can effectively suppress the vibration of flexible accessories.

关 键 词：挠性航天器 姿态控制 主动振动控制 自耦PD控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]