深空探测航天器姿态的自抗扰控制

Active disturbance rejection control for attitude control of deep space explorer

本文针对一种带有挠性附件和液体晃动的深空探测航天器姿态控制问题,提出了自抗扰控制律.该控制律可以自主、有效地抑制挠性附件弹性振动和液体晃动对姿态角运动的耦合作用以及处理大范围的扰动和系统不确定性.基于四元数生成角速度跟踪指令,把控制问题由姿态角控制转化为角速度控制.通过设计扩张状态观测器实时估计并补偿角速度通道总扰动并结合角速度偏差反馈,使得角速度快速跟踪指令,进而实现控制目标.仿真结果验证了控制律的有效性和鲁棒性.

The paper proposes an active disturbance rejection control(ADRC) strategy for attitude control of a kind of deep space explorer with flexible appendages and fuel slosh. The control law has the ability to autonomously and effectively suppress the coupled influences of the elastic vibration of flexible appendages and liquid sloshing for the motion of attitude angle, as well as the capability of dealing with a vast range of external disturbances and uncertainties of system.The command input of angular velocity is generated based on the quaternion. Thus, the control problem is translated from the control of attitude angle into the control of angular velocity. By designing an extended state observer(ESO) to timely estimate and compensate for the total disturbance in the angular velocity channel and designing the error feedback of angular velocity, angular velocity can quickly track the command. As a result, the control objective is achieved. The validity and robustness of the controller are shown via simulations.