本文選題：充液柔性航天器 + 大角度姿態(tài)機(jī)動��； 參考：《北京理工大學(xué)》2015年博士論文

【摘要】：為了完成長時(shí)間復(fù)雜的航天任務(wù)，航天器需要攜帶大量的液體燃料，燃料質(zhì)量的增加不但容易導(dǎo)致航天器儲液箱液體發(fā)生晃動，還會與航天器的姿態(tài)運(yùn)動及柔性附件振動發(fā)生耦合從而影響航天器的穩(wěn)定性，甚至可能導(dǎo)致航天器飛行任務(wù)失敗。因此，研究大型充液柔性航天器的姿態(tài)穩(wěn)定性以及液體晃動與撓性附件的振動抑制至關(guān)重要。 本課題主要對考慮液體多模態(tài)晃動的大型充液柔性航天器建模及大角度姿態(tài)機(jī)動復(fù)合控制策略進(jìn)行了深入的研究。在動力學(xué)建模過程中，充分考慮了剛-液耦合及剛-液-柔耦合的問題。論文的研究內(nèi)容主要包括以下幾方面。 (1)應(yīng)用動量矩定理建立了三軸穩(wěn)定充液航天器耦合系統(tǒng)動力學(xué)方程。將晃動液體燃料等效為二階彈簧-質(zhì)量模型，針對充液航天器大角度姿態(tài)機(jī)動問題，設(shè)計(jì)了基于自適應(yīng)動態(tài)輸出反饋控制器及加入多模態(tài)前饋輸入成型技術(shù)的復(fù)合控制器，數(shù)值模擬結(jié)果顯示，控制器不依賴于航天器的慣性參數(shù)，對于外部干擾具有很好的魯棒性；多模態(tài)ZVD輸入成型器對于液體燃料的晃動具有很好的抑制效果。 (2)針對部分充液航天器耦合系統(tǒng)為典型的欠驅(qū)動系統(tǒng)這一特性，，設(shè)計(jì)了欠驅(qū)動自適應(yīng)滑模控制器。采用Lyapunov方法分析了滑動模態(tài)的存在性及穩(wěn)定性，并且針對不能直接得到等效液體彈簧質(zhì)量模型晃動模態(tài)及速度的情形，設(shè)計(jì)了基于液體晃動方程的狀態(tài)觀測器，用于估計(jì)液體晃動的前兩階晃動模態(tài)，然后在控制系統(tǒng)中加入輸入成型前饋控制技術(shù)從而設(shè)計(jì)出相應(yīng)的復(fù)合控制器。仿真結(jié)果表明，自適應(yīng)滑�？刂品椒ㄅc傳統(tǒng)控制方法相比具有很好的控制精度，對參數(shù)不確定性具有很強(qiáng)的魯棒性。 (3)研究了光壓擾動影響下?lián)闲猿湟汉教炱鞯淖藨B(tài)機(jī)動控制問題。以帶有單個(gè)撓性帆板的在軌運(yùn)行充液航天器為研究對象，分析其進(jìn)出太陽半影區(qū)過程中，因太陽光壓改變引起的溫度驟然變化而產(chǎn)生的熱彎矩對航天器系統(tǒng)穩(wěn)定性的影響。根據(jù)Euler-Bernoulli梁理論，利用拉格朗日方法建立了撓性太陽帆板的動力學(xué)方程，應(yīng)用動量矩定理建立剛體航天器及晃動液體的動力學(xué)方程，計(jì)算結(jié)果表明：太陽光壓引起的熱擾動對于航天器的姿態(tài)運(yùn)動精度的影響不容忽視。之后，針對此類存在參數(shù)不確定、外部干擾以及控制力矩受限的復(fù)雜航天器大角度姿態(tài)機(jī)動問題，設(shè)計(jì)了自適應(yīng)滑�？刂坡�。并且將壓電材料應(yīng)用到撓性結(jié)構(gòu)振動的主動控制中，設(shè)計(jì)了內(nèi)回路PPF正位置反饋控制器。仿真結(jié)果表明，在考慮非線性飽和約束條件下，所設(shè)計(jì)的復(fù)合控制策略可以達(dá)到姿態(tài)控制精度的要求并且有效抑制撓性附件的振動及液體的晃動。 (4)研究了帶有大撓性結(jié)構(gòu)充液航天器耦合系統(tǒng)的動力學(xué)及控制問題。假設(shè)撓性附件為非線性Euler-Bernoulli大變形梁模型，應(yīng)用拉格朗日方法建立了其動力學(xué)方程。鑒于控制方程極為復(fù)雜，引入了奇異攝動理論將控制系統(tǒng)分解為慢變子系統(tǒng)及快變子系統(tǒng)。對于慢變子系統(tǒng)，為了提高控制精度，設(shè)計(jì)了推力器與動量輪的混合控制策略；對于快變系統(tǒng)應(yīng)用壓電智能元件設(shè)計(jì)Lyapunov控制律，在很短的時(shí)間內(nèi)有效地抑制撓性結(jié)構(gòu)的振動。數(shù)值仿真結(jié)果很好驗(yàn)證了控制策略的有效性。
[Abstract]:In order to accomplish long - term and complex space missions , the spacecraft needs to carry a large amount of liquid fuel , which not only can cause the liquid of the spacecraft liquid storage tank to shake , but also can be coupled with the attitude motion of the spacecraft and the vibration of the flexible accessory so as to affect the stability of the spacecraft and even lead to failure of the spacecraft flight mission . Therefore , it is important to study the attitude stability of the large liquid - filled flexible spacecraft and the vibration suppression of the liquid shaking and the flexible attachment .

In this paper , the large - scale liquid - filled flexible spacecraft model considering multi - modal slosh of liquid and the complex control strategy of large - angle attitude maneuver are studied in detail . In the process of dynamic modeling , the problems of rigid - liquid coupling and rigid - liquid - flexible coupling are fully considered . The research contents of this paper mainly include the following aspects .

( 1 ) The dynamic equation of the coupling system of three - axis stable liquid - filled spacecraft is established by using the momentum moment theorem . The equivalent of the slosh liquid fuel is the second - order spring - mass model , and the composite controller based on the adaptive dynamic output feedback controller and the multi - modal feed - forward input shaping technology is designed aiming at the large - angle attitude maneuver problem of the liquid - filled spacecraft , and the numerical simulation results show that the controller is not dependent on the inertial parameter of the spacecraft , and has good robustness for external interference ;
The multi - modal ZVD input former has good restraining effect on the slosh of liquid fuel .

( 2 ) Under the typical underactuated system of some liquid - filled spacecraft coupling systems , an underactuated adaptive sliding mode controller is designed . A state observer based on the liquid slosh equation is designed by Lyapunov method . A state observer based on the liquid slosh equation is designed , which is used to estimate the first two - order slosh modes of the liquid slosh . Then , the input - forming feed - forward control technique is added to the control system to design the corresponding composite controller . The simulation results show that the adaptive sliding mode control method has good control accuracy and robustness to the parameter uncertainty .

Based on the Euler - Bernoulli beam theory , the dynamic equation of the flexible solar panel is established by using the Lagrange method , and the dynamic equation of the rigid spacecraft and the shaking liquid is established by using the Lagrange method . The simulation results show that the designed composite control strategy can meet the requirement of attitude control precision and effectively restrain the vibration of the flexible appendages and the liquid shake under consideration of the nonlinear saturation constraint .

( 4 ) The dynamics and control problems of coupling systems with large flexible structures are studied . It is assumed that the flexible appendages are nonlinear Euler - Bernoulli large deformation beam models , and the dynamic equations are established by Lagrange method . In view of the complexity of the control equation , the singular perturbation theory is introduced to decompose the control system into a slow - variable subsystem and a fast - variable subsystem . For the slow - variable subsystem , the hybrid control strategy of the thruster and the momentum wheel is designed to improve the control accuracy .
The Lyapunov control law of the piezoelectric intelligent element is applied to the fast changing system . The vibration of the flexible structure is effectively restrained in a short time . Numerical simulation results verify the effectiveness of the control strategy .

【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：V448.22

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 洪嘉振,尤超藍(lán);剛?cè)狁詈舷到y(tǒng)動力學(xué)研究進(jìn)展[J];動力學(xué)與控制學(xué)報(bào);2004年02期

2 祝樂梅;岳寶增;;充液航天器姿態(tài)的自適應(yīng)非線性動態(tài)逆控制[J];動力學(xué)與控制學(xué)報(bào);2011年04期

3 呂敬;李俊峰;王天舒;岳寶增;;充液撓性航天器俯仰運(yùn)動分岔特性初步研究[J];工程力學(xué);2008年04期

4 楊思亮;徐世杰;;柔性航天器大角度姿態(tài)機(jī)動的變論域分形控制[J];哈爾濱工業(yè)大學(xué)學(xué)報(bào);2011年11期

5 袁長清;李俊峰;沈英;;多體航天器大角度機(jī)動魯棒控制[J];空間控制技術(shù)與應(yīng)用;2008年03期

6 崔峧e

本文編號：1810606