舱外机动装置姿态自适应控制研究

Adaptive Attitude Control of Extra Vehicular Activity

舱外机动装置是一种帮助宇航员在航天器舱外活动的机动装置，航天员自身的质量特性的不确定性使得其姿态控制问题为非线性时变，并且带有不确定参数的系统的控制问题，传统的控制系统理论难以处理该问题．自适应控制指令跟踪法用于舱外机动装置的姿态控制系统以应付质量特性不确定性的影响，研究结果表明该方法可以实现对舱外机动装置姿态机动和稳定控制，具有良好的抗干扰性和控制鲁棒性，姿态控制精度达到０ ．５°，姿态稳定度达到０ ．１ （°）／ｓ．

Extra Vehicular Activity (EVA) is one kind of aided devices for astronaut's acting out of the spacecraft. Because of the mass property uncertainties and variations, the attitude control of EVA is a nonlinear and time variant control system with the uncertain parameters. This paper presents the study for direct adaptive angular velocity tracking (AAVT) control of EVA with the command generator tracker (CGT) method. Based on the AAVT, an adaptive attitude control method of EVA is presented. Simulation shows that the adaptive control with CGT has good robustness. The tracking precision of angular velocity is 0.1 deg/s; precision of attitude control is 0.5 deg.