输入成型在卫星喷气姿态机动控制中的应用

Control of flexible satellite attitude maneuver using pulse modulated input shaper

针对空间飞行器常带有大型挠性附件,而挠性附件的振动往往使控制系统性能变差的问题,提出了一种能有效抑制系统残留振动的姿态机动控制策略,即机动控制内环结合前置补偿结构.控制内环为由姿态控制执行机构(PWPF modulator)、控制器(PD controller)构成的挠性卫星姿态闭环系统,前置补偿器采用多模态输入成型器.内环用于保证主刚体的期望转动,输入成型器则用于抑制系统的残留振动.仿真结果表明:在卫星姿态满足期望指向的前提下,基于Pade′拟合设计的多模态成型器更短,对于系统的参数摄动也具有一定的鲁棒性.该控制策略改善了姿态机动控制系统的过渡过程.

Considering the condition that modern spacecraft are always of large flexible appendages and the fact that the flexible vibration often degrades the control system performance, this paper employs a method that consists of a feed-forward compensator and a feedback control loop to fulfill attitude maneuver rapidly with little residual vibration. Including a pulse-width pulse-frequency modulator and a proportional differential （PD） controller, the feedback control loop is designed to meet desired performance; the feed-forward compensator, a multi-mode input shaper based on Pade＇ approximation, is designed to eliminate whole system residual vibration. Simulation results show that the proposed multi-mode input shaper has shorter length and can provide robustness to parameter uncertainty. During maneuvers, the presented control strategy introduces less overshoots and shorter system response time.