宇航学报 ›› 2015, Vol. 36 ›› Issue (7): 819-825.doi: 10.3873/j.issn.1000-1328.2015.07.011

• 制导、导航与控制 • 上一篇    下一篇

液体多模态晃动充液航天器姿态机动复合控制

宋晓娟,岳宝增,闫玉龙,邓明乐   

  1. 北京理工大学宇航学院,北京 100081
  • 收稿日期:2014-06-23 修回日期:2014-10-14 出版日期:2015-07-15 发布日期:2015-07-25
  • 基金资助:

    国家自然科学基金(11472041);教育部博士点基金(20131101110002)

Hybrid Control for Attitude Maneuver of Liquid Filled Spacecraft withMultiple Modal Liquid Sloshing

SONG Xiao juan, YUE Bao zeng, YAN Yu long, DENG Ming le   

  1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
  • Received:2014-06-23 Revised:2014-10-14 Online:2015-07-15 Published:2015-07-25

摘要:

主要研究多模态液体晃动时充液航天器大角度姿态机动动力学与控制问题。采用液体晃动弹簧质量等效力学模型将液体燃料前两阶液体晃动模态纳入到充液航天器耦合动力学模型中;根据动量矩守恒定律推导出充液航天器耦合系统动力学方程。针对充液航天器大角度姿态机动同时抑制燃料晃动的问题,采用自适应动态输出反馈的姿态控制方法并结合基于前馈控制的多模态ZVD输入成型器设计复合控制器。通过数值模拟给出了液体晃动响应及航天器姿态机动的时间历程图,数值仿真结果表明了本文所给出复合控制方法的有效性。

关键词: 充液航天器, 大角度机动, 自适应动态输出反馈, 输入成型, 复合控制

Abstract:

The paper is mainly concerned with the large attitude maneuver dynamics and control problem of a fuel-filled spacecraft. The sloshing liquid dynamics is modeled by use of the equivalent two-modal spring-mass and incorporated in the coupled spacecraft dynamics model. The dynamics equation of the coupled spacecraft dynamics system is established by using the law of conservation of angular momentum. The hybrid control method is designed based on the adaptive output-feedback controller and the multi-modal ZVD input shaper to control the spacecraft large attitude maneuver and simultaneously suppress the liquid fuel sloshing. The time history curves of the liquid sloshing response and the spacecraft attitude maneuver are derived. The numerical results show the good performance and better effectiveness of the hybrid control method for the fuel-filled spacecraft.

Key words: Fuel-filled spacecraft, Large attitude control, Adaptive output-feedback control, Input shaping, Hybrid control

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