控制受限柔性航天器姿态机动内闭环成形控制

Closed-Loop Signal Shaping Attitude Maneuvering Control for Flexible Spacecraft Subject to Actuator Saturation

针对柔性航天器带有执行机构饱和的姿态控制问题,提出了一种将反馈控制与内闭环信号成形相结合的控制方法。将成形器作用于系统内闭环回路中,通过人为引入控制延时达到抑制振动的目的,避免敏感器扰动、执行机构饱和等非线性影响控制器振动抑制效果。全物理实验结果表明,在反作用飞轮存在控制力矩饱和的情况下,该方法不仅使航天器快速地、平稳地完成高精度姿态机动,而且显著地减少了柔性结构的弹性振动,具有算法简单、易于在轨实时计算的优点。

The problem of attitude maneuvering control of flexible spacecraft subject to actuator saturation is dealt with in this paper.To satisfy pointing requirement and simultaneously suppress vibration,a feedback controller combined with closed-loop signal shaping is designed.The closed-loop signal shaping partially delayed,is located within the feedback loop to reduce the residual vibration.This type of control architecture can be used advantageously to reject sensor disturbances and discontinuous nonlinearities such as actuator saturation.Physical experiment results demonstrate that the proposed approach can significantly reduce the vibration of the flexible appendages during the fast angle maneuver subject to actuator saturation;the results also show that the presented control algorithm has the advantages of simplicity and efficiency for practical on-board computer operation.