输入受限的挠性航天器全驱姿态饱和控制  

Fully Actuated Flexible Spacecraft Attitude Control With Input Constraint

作　　者：王典 吴云华 岳程斐 马松靖[1] WANG Dian;WU Yun-Hua;YUE Cheng-Fei;MA Song-Jing(School of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211100;Institute of Space Science and Applied Technology,Harbin Institute of Technology,Shenzhen 518055;National Key Laboratory of Micro-Spacecraft Rapid Design and Intelligent Cluster,Harbin Institute of Technology,Harbin 150001)

机构地区：[1]南京航空航天大学航天学院,南京211100 [2]哈尔滨工业大学(深圳)空间科学与应用技术研究院,深圳518055 [3]哈尔滨工业大学微小型航天器快速设计与智能集群全国重点实验室,哈尔滨150001

出　　处：《自动化学报》2024年第11期2177-2187,共11页Acta Automatica Sinica

基　　金：国家自然科学基金(61973153,12372045)资助。

摘　　要：面向空间攻防等任务的航天器通常安装微波、激光等大功率对抗载荷,未来航天器需要装备大型挠性太阳能帆板.针对挠性航天器姿态机动过程中存在外部干扰、执行机构饱和及挠性附件振动且挠性模态不易直接测量等问题,提出带挠性附件航天器的全驱姿态控制方法.首先,建立挠性航天器全驱姿态控制模型.其次,基于扩展非线性观测器(Extended nonlinearity observer,ENO)与努斯鲍姆增益调节设计一种抗饱和的姿态控制鲁棒算法.将外部扰动、挠性振动和输入饱和函数饱和估计误差作为复合干扰,采用非线性干扰观测器对其进行有效补偿.在直接参数设计线性控制参数基础上,扩展非线性观测器负责对挠性航天器产生的挠性振动等非线性进行实时估计和补偿,努斯鲍姆函数辅助控制器输出力矩避免饱和,并利用李雅普诺夫方法严格证明闭环系统的稳定性.最后通过数学仿真验证该方法不仅能够实现执行机构饱和约束条件下的姿态控制,还能有效抑制挠性结构的振动,为探索未来带有大型挠性附件航天器姿态控制新的方法提供参考.For space missions such as space attack and defense,spacecrafts are usually equipped with high-power counter loads such as microwaves and lasers,thus future spacecrafts will need to be equipped with large-scale flexible solar panels.To solve the problems of external disturbances,actuator saturation,and vibrations of flexible attachments difficult to measure directly during attitude maneuver of flexible spacecraft,a fully actuated-based attitude control method for flexible spacecraft is proposed.First,a fully actuated attitude model for flexible spacecraft is established.Second,a robust attitude control algorithm against saturation is designed based on the extended nonlinear observer(ENO)and Nussbaum gain adjustment.The external disturbances,flexible vibrations,and the approximation error of the input saturation function are considered composite disturbances,which are efficiently compensated by the nonlinear disturbance observer.Based on the direct parametric design of linear control parameters,the ENO is responsible for the real-time estimation and compensation of nonlinearities such as flexible vibrations generated by the flexible spacecraft.And the Nussbaum function is used for the adjustment of the controller output torque magnitude to avoid actuator saturation.The stability of the closed-loop system is rigorously demonstrated using the Lyapunov method.Finally,it is verified by mathematical simulation that this method can not only realize the attitude control under the actuator saturation constraint but also effectively suppress the flexible vibrations,which contributes to exploring a novel method for the attitude control of spacecraft with large-scale flexural attachments in the future.

关 键 词：挠性航天器 姿态控制 全驱系统 输入饱和 努斯鲍姆增益调节 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]