摘要
针对在轨挠性航天器姿态机动控制问题,提出了一种基于路径规划、线性二次型最优控制(LQR)和扩张状态观测器(ESO)新的姿态控制方法.在建立单轴挠性航天器姿态动力学系统状态方程的基础上,针对姿态机动易造成挠性附件大幅振动的问题,提出了一种余弦型角速度曲线的姿态机动路径规划方法,可应用于初速非零的情况.针对姿态角速度和挠性模态的变化率不易测得以及系统中受到持续时变干扰的问题,构建ESO对系统状态量和干扰进行估计,并与LQR控制相结合,设计了具有自抗扰能力的姿态控制器.仿真结果验证了所提控制方法的有效性.
For the issue of attitude maneuver control of a flexible spacecraft,a novel attitude control maneuver scheme based on the linear quadratic regulator (LQR),the expended state observer(ESO) and path planning was proposed.The attitude dynamics state equation of a flexible spacecraft was es-tablished.To solve the problem that the attitude maneuver often leads to strong vibration of the flexi-ble appendages,the maneuvering path planning based on a curve of cosinusoidal angle speed change was given in which the initial velocity is not required to be zero.Based on LQR theory an attitude con-troller was designed for the flexible spacecraft.Furthermore,an extended state observer (ESO)for the flexible spacecraft was designed to estimate the attitude velocity,the modal velocity and the con-tinuous time-varying external disturbances.By combining the LQR controller with the ESO,active rejection of disturbances can be achieved in the proposed control scheme.Simulation results demon-strate the effectiveness of the proposed control strategy.
出处
《华中科技大学学报(自然科学版)》
EI
CAS
CSCD
北大核心
2015年第S1期27-31,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然基金资助项目(61473152)
江苏省高校研究生科研创新计划资助项目(KYLX15-0399)
南京理工大学毕业设计重点课题立项资助项目
关键词
挠性航天器
姿态机动控制
路径规划
线性二次型最优控制
扩张状态观测器
自抗扰
flexible spacecraft
attitude maneuver control
path planning
linear quadratic regulator
expended state observer
active disturbance rejection