具有对称斜装动量轮的再入体动力学分析与姿态鲁棒控制  

Dynamic analysis and attitude robust control of a reentry body withsymmetrical oblique momentum wheels

作　　者：陈水宣 王少敏 洪昭斌 王伟东[2,3] CHEN Shuixuan;WANG Shaomin;HONG Zhaobin;WANG Weidong(School of Mechanical and Automotive Engineering,Xiamen University of Technology,Xiamen 361024,China;Beijing Aerospace Long March Vehicle Research Institute,Beijing 100076,China;State Key Laboratory of Experimental Physics and Computational Mathematics,Beijing 100076,China)

机构地区：[1]厦门理工学院机械与汽车工程学院,福建厦门361024 [2]北京航天长征飞行器研究所,北京100076 [3]试验物理与计算数学国家重点实验室,北京100076

出　　处：《厦门大学学报（自然科学版）》2024年第2期271-279,共9页Journal of Xiamen University：Natural Science

基　　金：福建省科技厅高校产学合作科技重大项目(2021H6010);试验物理与计算数学国家重点实验室预研课题(08-YY-2022-R46)。

摘　　要：[目的]针对动量轮再入体姿态控制中存在转矩控制不足的问题进行研究.[方法]提出一种均匀对称斜装的动量轮布局,并利用拉格朗日第二类方程建立动量轮再入体的姿态动力学模型.基于动力学模型设计一种积分滑模综合控制策略,该策略考虑输入饱和对系统的影响,利用非线性扰动观测器对系统的不确定项进行估计.[结果]仿真与再入体模拟实验显示:在同样的控制需求下,本文提出的对称斜装动量轮布局所提供的最大转矩输出相较于传统正交的动量轮布局下降了60%.在引入输入饱和补偿的控制器作用下,控制输入可以更快地脱离饱和状态,再入体在4 s内稳定跟踪期望信号,稳定跟踪误差小于0.07°.[结论]本文提出的对称斜装动量轮布局通过动量轮之间的耦合,提高了动量轮的利用效率.相较于传统滑模控制,本文提出的积分滑模综合控制策略在再入体姿态控制上有抖振低、相对超调量小、鲁棒性高的优点,可有效地对再入体的姿态调整进行精确控制.[Objective]This study focuses on reentry bodies that utilize momentum wheels as their actuation mechanisms,with a specific emphasis on addressing torque control deficiencies in the context of reentry-body attitude control.While concurrently preserving the symmetry of the reentry body,we propose a novel momentum-wheel layout that enhances the maximum torque output in the yaw,pitch,and roll channels.Additionally,a control scheme is introduced for the designed momentum wheel-based reentry-body system with the aim of achieving both the stability in attitude during reentry and agile attitude maneuvers.[Methods]In addressing the issue of insufficient torque output in momentum wheel-based reentry bodies,this paper introduces a symmetric layout for momentum wheels to improve the balance and maximize the torque output in individual channels.Due to the leverage of Lagrange's second-kind equations,a dynamic model for the attitude dynamics of the momentum wheel reentry body is developed.The study employs sliding mode control theory for tracking and controlling the attitude of the reentry body.For the purpose of mitigating the chattering issue associated with the sliding mode controller,a low-pass filter is incorporated with the controller to enhance system damping.Mathematical modeling is applied to characterize the reentry body with the added low-pass filter.Subsequently,in the presence of uncertain parameters and external disturbances that challenge precise estimation,we introduce a disturbance observer to compensate for uncertainties and enhance the robustness of the controller.Finally,an integral sliding mode control law is devised,and an input saturation compensation signal is introduced within the sliding mode control to reduce the impact of input saturation on the system.[Results]In this study,we employ both MATLAB simulations and a reentry-body simulation experimental platform to validate the effectiveness of the proposed momentum wheel layout,the designed controller,and the input saturation compensation strategy.Ini

关 键 词：动量轮 再入体 积分滑模 非线性扰动观测器 抖振抑制 输入饱和 

分 类 号：O231.2[理学—运筹学与控制论] TJ761.3[理学—数学]