撓性衛(wèi)星的姿態(tài)快速穩(wěn)定控制方法研究
發(fā)布時間：2018-08-27 20:31
【摘要】：目前,由我國擔(dān)任發(fā)射的航天器大部分都帶有撓性附件,撓性附件正朝著結(jié)構(gòu)和體積更加復(fù)雜的趨勢發(fā)展,對這類航天器的控制要求也將變的更加嚴格�；诖粟厔�,我們所使用的控制算法應(yīng)當(dāng)進一步滿足撓性航天器快速機動、快速穩(wěn)定的需求。新的控制需求主要體現(xiàn)在兩方面:第一,航天器因撓性附件的日趨復(fù)雜,模型的不確定性增加,控制系統(tǒng)需適應(yīng)被控對象的不確定性;第二,帶有大型撓性附件航天器在快速機動、快速穩(wěn)定等控制品質(zhì)方面有待提高。本文針對帶有撓性附件的衛(wèi)星本身存在著模態(tài)頻率不確定的問題,對撓性衛(wèi)星控制系統(tǒng)設(shè)計了PD和EI的復(fù)合控制算法來抑制撓性器件的振動,進而避免了撓性器件組模態(tài)直接檢測的困難以及因進一步設(shè)計觀測器而增加的系統(tǒng)復(fù)雜性的問題。首先,針對動力學(xué)對象確定PD輸出反饋控制器,精心設(shè)計該控制器的參數(shù),使得姿態(tài)控制系統(tǒng)具有很好的動態(tài)品質(zhì);此外,為了有效抑制撓性結(jié)構(gòu)的振動,進一步將EI輸入成型振動抑制方法引入到閉環(huán)控制系統(tǒng)的外側(cè),用來改變輸入命令的形狀達到抑制撓性結(jié)構(gòu)振動的目的;隨后針對模態(tài)頻率和系統(tǒng)轉(zhuǎn)動慣量的不確定性因素設(shè)計了一種基于RBF神經(jīng)網(wǎng)絡(luò)自適應(yīng)的變結(jié)構(gòu)控制器,并且引入了EI輸入成型的振動抑制方法,通過改變輸入指令的形狀來抑制結(jié)構(gòu)的振動,仿真結(jié)果證實了設(shè)計理論的正確性及所研究方法的可行性。其次,針對撓性衛(wèi)星在大角度姿態(tài)機動時,飛行器帶有飽和特性所產(chǎn)生的模態(tài)振動問題,本文設(shè)計了一種對飽和特性進行分力合成的方法來抑制此類振動,提高了姿態(tài)機動的穩(wěn)定時間和穩(wěn)態(tài)精度。由仿真結(jié)果可知,針對執(zhí)行器帶有飽和非線性的模態(tài)振動問題,利用PD控制結(jié)合分力合成主動振動抑制方法可以有效的減少模態(tài)的振動,縮短穩(wěn)定時間,提高穩(wěn)態(tài)精度,此方法對模態(tài)頻率變化范圍是20%的情況具有較好的魯棒性。
[Abstract]:At present, most of the spacecraft launched by our country have flexible appendages. The flexible appendages are developing towards more complex structure and volume, and the control requirements of these spacecraft will become more stringent. Based on this trend, the control algorithm we use should further meet the needs of flexible spacecraft for rapid maneuvering and fast stability. The new control requirements are mainly reflected in two aspects: first, because of the increasing complexity of flexible appendages, the uncertainty of the model increases, and the control system needs to adapt to the uncertainty of the controlled object. The control quality of spacecraft with large flexible appendages needs to be improved in terms of fast maneuvering, fast stability and so on. Aiming at the uncertainty of the mode frequency of the satellite with flexible appendages, a compound control algorithm of PD and EI is designed for the flexible satellite control system to suppress the vibration of the flexible device. The difficulty of direct modal detection of flexible device group and the complexity of the system caused by the further design of the observer are avoided. First of all, the PD output feedback controller is determined for the dynamic object, and the parameters of the controller are carefully designed to make the attitude control system have good dynamic quality; in addition, in order to effectively suppress the vibration of the flexible structure, Further, the EI input molding vibration suppression method is introduced to the outside of the closed-loop control system to change the shape of the input command to suppress the vibration of the flexible structure. Then, an adaptive variable structure controller based on RBF neural network is designed for the uncertainty factors of modal frequency and system inertia, and the vibration suppression method of EI input molding is introduced. By changing the shape of the input instruction to suppress the vibration of the structure, the simulation results verify the correctness of the design theory and the feasibility of the proposed method. Secondly, aiming at the modal vibration problem of flexible satellite with saturation characteristics when it maneuvers at large angle, this paper designs a method to combine the saturation characteristics to suppress the vibration. The stability time and steady-state precision of attitude maneuver are improved. The simulation results show that the active vibration suppression method based on PD control combined with component force synthesis can effectively reduce the modal vibration, shorten the stabilization time and improve the steady-state accuracy for the modal vibration problem with saturated nonlinear actuator. This method is robust to the case where the frequency range is 20%.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V448.2
本文編號：2208373
[Abstract]:At present, most of the spacecraft launched by our country have flexible appendages. The flexible appendages are developing towards more complex structure and volume, and the control requirements of these spacecraft will become more stringent. Based on this trend, the control algorithm we use should further meet the needs of flexible spacecraft for rapid maneuvering and fast stability. The new control requirements are mainly reflected in two aspects: first, because of the increasing complexity of flexible appendages, the uncertainty of the model increases, and the control system needs to adapt to the uncertainty of the controlled object. The control quality of spacecraft with large flexible appendages needs to be improved in terms of fast maneuvering, fast stability and so on. Aiming at the uncertainty of the mode frequency of the satellite with flexible appendages, a compound control algorithm of PD and EI is designed for the flexible satellite control system to suppress the vibration of the flexible device. The difficulty of direct modal detection of flexible device group and the complexity of the system caused by the further design of the observer are avoided. First of all, the PD output feedback controller is determined for the dynamic object, and the parameters of the controller are carefully designed to make the attitude control system have good dynamic quality; in addition, in order to effectively suppress the vibration of the flexible structure, Further, the EI input molding vibration suppression method is introduced to the outside of the closed-loop control system to change the shape of the input command to suppress the vibration of the flexible structure. Then, an adaptive variable structure controller based on RBF neural network is designed for the uncertainty factors of modal frequency and system inertia, and the vibration suppression method of EI input molding is introduced. By changing the shape of the input instruction to suppress the vibration of the structure, the simulation results verify the correctness of the design theory and the feasibility of the proposed method. Secondly, aiming at the modal vibration problem of flexible satellite with saturation characteristics when it maneuvers at large angle, this paper designs a method to combine the saturation characteristics to suppress the vibration. The stability time and steady-state precision of attitude maneuver are improved. The simulation results show that the active vibration suppression method based on PD control combined with component force synthesis can effectively reduce the modal vibration, shorten the stabilization time and improve the steady-state accuracy for the modal vibration problem with saturated nonlinear actuator. This method is robust to the case where the frequency range is 20%.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V448.2
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