基于输入成型的挠性航天器自适应姿态控制（英文）

Input shaping based adaptive attitude control for flexible spacecraft

针对快速调姿挠性航天器的姿态控制问题,提出一种基于输入成型的自适应姿态控制方法,解决俯仰、偏航、滚转三通道的控制耦合问题,抑制航天器挠性振动、提高姿态控制精度。首先,建立了考虑弹性振动、执行器故障及惯量不确定性的挠性航天器姿态动力学模型。基于欧拉轴角提出一种姿态机动参考轨迹设计方法,避免了俯仰、偏航、滚转三通道的耦合问题。通过多模输入成型方法对姿态机动参考轨迹进行修正,以抑制航天器弹性振动。采用自适应容错控制方法对修正后的参考轨迹进行跟踪,以实现挠性航天器快速姿态机动任务。数值仿真结果表明,与传统PD姿态控制方法相比,所提出的基于输入成型的挠性航天器自适应姿态控制方法可将残余弹性振动幅值和姿态控制偏差降低两个数量级,验证了该方法的有效性。

Aiming to the attitude control problem for the flexible spacecraft rest-to-rest fast maneuver, an adaptive attitude control method based on input shaping is proposed, which can solve the pitch-yaw-roll control coupling problem and improve the control precision significantly. The attitude dynamics is established considering elastic vibration, actuator failure, and inertial uncertainty. A reference attitude trajectory design method is proposed based on Euler-axis concept, which could avoid the usual pitch-yaw-roll coupling problem in many existing methods. In order to suppress elastic vibration, a multi-mode zero vibration and derivative input shaper is designed to reshape the Euler-axis based reference attitude trajectory. The adaptive fault-tolerant control method is adopted to track the reshaped reference attitude trajectory, so that flexible spacecraft could execute fast attitude maneuver task. Numerical simulations indicate that, compared with the classic PD attitude control method, the proposed adaptive attitude control method can reduce the residual elastic vibration amplitude and attitude control deviation by two orders of magnitude, which verifies the effectiveness of the proposed method.