宇航学报

宇航学报 ›› 2019, Vol. 40 ›› Issue (11): 1332-1340.doi: 10.3873/j.issn.1000-1328.2019.11.009

• 制导、导航、控制与电子 • 上一篇    下一篇

柔性航天器姿态机动轨迹设计及跟踪控制

张秀云，宗群，朱婉婉，刘文静   

  1. 1. 天津大学电气自动化与信息工程学院，天津 370002；2. 北京控制工程研究所，北京 100190
  • 收稿日期:2018-10-08 修回日期:2019-03-26 出版日期:2019-11-15 发布日期:2019-11-25
  • 基金资助:
    国家自然科学基金（61673294,61573060,61773278）

Attitude Maneuvering Trajectory Design and Tracking Control for Flexible Spacecraft

ZHANG Xiu yun, ZONG Qun, ZHU Wan wan, LIU Wen jing   

  1. 1. School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China; 2. Beijing Institute of Control
    Engineering, Beijing 100190, China
  • Received:2018-10-08 Revised:2019-03-26 Online:2019-11-15 Published:2019-11-25

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摘要： 针对柔性航天器姿态机动的“快速性”及“稳定性”矛盾，研究了一种优化与控制综合的姿态机动轨迹设计与跟踪控制方法。首先，考虑柔性航天器姿态机动过程中既快又稳的需求，建立姿态机动的多目标多约束条件，优化获得姿态机动轨迹，在满足快速性基础上，最大限度提高稳定性；其次，设计新型的快速鲁棒输入成形器(FRIS)，与传统输入成形器相比，FRIS具有更短的作用时间及更强的鲁棒性，能够有效抑制柔性附件振动，为姿态机动的“快速性”及“高精度”奠定基础；最后，设计新型自适应连续终端滑模控制器(ACTSMC)，避免增益过估计，提高控制精度，实现对期望姿态轨迹的有限时间快速高精度跟踪控制。数值仿真校验了所提方法的有效性。

关键词: 柔性航天器, 轨迹优化, 快速鲁棒输入成形器(FRIS), 姿态机动控制, 柔性振动抑制

Abstract: For the contradiction between “rapidity” and “stability” of the attitude maneuvering of a flexible spacecraft, an integrated method of optimization and control for the attitude maneuvering trajectory design and tracking control is proposed in this paper. Firstly, considering the rapidity and stability requirements of the flexible spacecraft’s attitude maneuvering, the multi-objective and multi-constraint conditions are established, and the attitude trajectory is acquired by optimization, which can maximize the system stability while considering the performance of rapidity. Then, a novel fast robust input shaper(FRIS) is designed. It could suppress the vibration effectively and the action time is shorter than a traditional input shaper, which is beneficial for the rapidity and high precision. Finally, a novel adaptive continuous terminal sliding mode controller(ACTSMC) is proposed, which can avoid gain over-estimation, and guarantee the fast and high-precision tracking control of the desired attitude trajectory. The numerical simulations have demonstrated the effectiveness of the approach proposed.

Key words:  Flexible spacecraft, Trajectory optimization, Fast robust input shaper (FRIS), Attitude maneuver control, Active vibration suppression

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