轮控过驱动刚体航天器姿态机动与约束控制分配

Robust attitude maneuver and constrained control allocation for over-actuated rigid spacecraft with redundant reaction fly-wheels

针对过驱动航天器系统转动惯量未知与姿态机动控制的问题,考虑执行机构的动态响应特性,设计了反步法的鲁棒自适应控制器。利用Lyapunov方法分析其系统的稳定性,提出基于约束最优二次规划的算法,实现期望指令到冗余飞轮的指令分配,引入一个松弛变量扩展优化解集,证明了分配后控制力矩的平稳性和能量的最优性。采用Simulink软件对某型轮控刚体航天器的姿态机动任务进行了仿真研究。结果表明,该方法能够实现快速和高精度控制过驱动航天器姿态。

Aimed at the uncertain inertia matrix of over-actuated spacecraft system and attitude maneuver control,this paper proposes robust adaptive backstepping control as a result of allowing for dynamic response characteristics of drive mechanism and describes an analysis of the system＇s stability using Lyapunov functions.The paper presents an algorithm based on the optimal unconstrained quadratic program to achieve a change from the desired instruction to the redundant flywheel instruction distribution and verifies control torque stability and energy optimization following the assignment by introducing a slack variable extension of optimal solution set.The numerical simulation of an attitude maneuver mission of a rigid spacecraft with redundant by using the MATLAB/Simulink software prove that the method allows a quicker and accurate control of over-actuated spacecraft attitude.