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存在物理约束的时变转动惯量航天器姿态控制

殷春武 甘婷 徐琳

殷春武, 甘婷, 徐琳. 存在物理约束的时变转动惯量航天器姿态控制[J]. 航空动力学报, 2024, 39(1):20220124 doi: 10.13224/j.cnki.jasp.20220124
引用本文: 殷春武, 甘婷, 徐琳. 存在物理约束的时变转动惯量航天器姿态控制[J]. 航空动力学报, 2024, 39(1):20220124 doi: 10.13224/j.cnki.jasp.20220124
YIN Chunwu, GAN Ting, XU Lin. Adaptive attitude control with physical constraint and time-varying rotational inertia[J]. Journal of Aerospace Power, 2024, 39(1):20220124 doi: 10.13224/j.cnki.jasp.20220124
Citation: YIN Chunwu, GAN Ting, XU Lin. Adaptive attitude control with physical constraint and time-varying rotational inertia[J]. Journal of Aerospace Power, 2024, 39(1):20220124 doi: 10.13224/j.cnki.jasp.20220124

存在物理约束的时变转动惯量航天器姿态控制

doi: 10.13224/j.cnki.jasp.20220124
基金项目: 西安建筑科技大学青年基金(QN1727); 陕西省教育厅专项科研计划项目(20JK0728)
详细信息
    作者简介:

    殷春武(1982-),男,副教授,博士,主要研究方向为航天器姿态控制、机器人控制。E-mail:yincwxa2013@mail.nwpu.edu.cn

    通讯作者:

    徐琳(1978-) ,男,讲师,博士,主要研究方向为交通运输工程。E-mail:3306035@qq.com

  • 中图分类号: V448.2

Adaptive attitude control with physical constraint and time-varying rotational inertia

  • 摘要:

    对存在角速度和控制输入有界的快速机动航天器姿态控制问题,设计了一种自适应双环姿态跟踪控制器。将虚拟有界角速度作为运动学方程的虚拟控制输入,使姿态控制问题降阶为角速度跟踪问题;构建递归自适应算法估计时变转动惯量及其微分,并基于障碍李亚普诺夫函数和线性回归算子,设计了角速度跟踪误差有界的变增益自适应姿态控制器。结果表明:该控制策略能使抓捕非合作目标航天器的姿态呈指数收敛到期望轨迹,且收敛轨迹不受外部干扰和抓捕瞬间的强干扰影响;在整个控制过程中,航天器的角速度小于0.4 rad/s,控制力矩小于10 N·m,满足了航天器对角速度和控制输入有界的物理限制。

     

  • 图 1  外部干扰力矩特性

    Figure 1.  Disturbance torque characteristics

    图 2  控制力矩限制示意图

    Figure 2.  Diagram of control torque limit

    图 3  姿态角误差变化趋势

    Figure 3.  Trend of attitude angle error

    图 4  三轴控制力矩曲线

    Figure 4.  Trend of control torque

    图 5  ${\boldsymbol{\omega }}$${{\boldsymbol{\omega }}_{\text{v}}}$轨迹曲线

    Figure 5.  Trends of ${\boldsymbol{\omega }}$ and ${{\boldsymbol{\omega }}_{\text{v}}}$

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出版历程
  • 收稿日期:  2022-03-11
  • 网络出版日期:  2023-08-09

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