基于能量转换原理的小天体多节点柔性着陆器控制方案  

Control of a multi-node small body flexible lander based on the principle of energy balance

作　　者：柴敬轩 梅杰 龚有敏 郭许发 马广富 吴伟仁 CHAI JingXuan;MEI Jie;GONG YouMin;GUO XuFa;MA GuangFu;WU WeiRen(School of Aerospace Science,Harbin Institute of Technology(Shenzhen),Shenzhen 518000,China;School of Mechanical Engineering and Automation,Harbin Institute of Technology(Shenzhen),Shenzhen 518000,China)

机构地区：[1]哈尔滨工业大学(深圳),空天科技学院,深圳518000 [2]哈尔滨工业大学(深圳),机电工程与自动化学院,深圳518000

出　　处：《中国科学:物理学、力学、天文学》2025年第2期183-196,共14页Scientia Sinica Physica,Mechanica & Astronomica

基　　金：国家重点研发计划(编号:2019YFA0706500);国家自然科学基金(编号:62273118,12150008)资助项目。

摘　　要：由于小天体引力场不规则且微弱,常规着陆器在着陆时往往会面临弹跳问题,近期学界提出一种多节点柔性着陆器,有望解决着陆弹跳问题.但是新设计也带来了新的挑战,多节点柔性着陆器的多节点在柔性材料包覆下的控制问题就是其中之一.为解决该问题,首先基于port-Hamilton(pH)系统建立了多节点柔性着陆器的动力学模型.考虑到节点在柔性体内的运动实际上是一种动能与弹性势能的转换,因此从能量平衡的角度出发提出了节点构型控制器.为使每个节点的下降轨迹符合着陆约束,提出了节点跟踪虚拟中心的控制框架,并以ZEM/ZEV的最优反馈制导律为例构建虚拟中心轨迹,进一步设计各节点对虚拟中心的跟踪控制器,然后根据Lyapunov理论证明了所提出控制器的稳定性.最后,以多节点柔性着陆器从悬停点到着陆目标点为场景构建仿真实验,仿真结果表明所提出的控制器具有良好的跟踪能力和构型控制能力,进一步通过蒙特卡罗实验验证了所提控制器的鲁棒性与适用性.Due to the irregular and weak gravitational field of small celestial bodies, conventional landers often face the problemof bouncing. Recently, a multi-node flexible lander has been proposed to solve the problem. However, the new designalso brings new challenges, one of which is the control of the multiple nodes covered by flexible materials. To solve thisproblem, the dynamic model of the multi-node flexible lander based on the port-Hamilton (pH) system is established.Considering that the motion of nodes in the flexible body is the conversion of kinetic energy and elastic potential energy,the configuration controller of nodes is proposed from the perspective of energy balance. To make the descent trajectoryof each node conform to the landing constraint, a control framework of the nodes tracking the virtual center is proposed,and the virtual center trajectory is constructed with the standard ZEM/ZEV optimal feedback guidance law. The trackingcontroller for each node is further designed. Finally, a simulation experiment is constructed from the hovering point tothe landing target of the flexible lander. The simulation results show that the proposed controllers have good trackingand configuration control abilities. Monte Carlo experiments further demonstrate the robustness and applicability of theproposed controller.

关 键 词：小天体附着 多节点柔性着陆器 port-Hamilton系统 跟踪控制 构型控制 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]