基于改进迭代学习的参数不确定卫星姿态控制

doi:10.12305/j.issn.1001-506X.2021.02.25

摘要/Abstract

摘要：

针对卫星运行时存在的诸如在轨组装升级后的卫星转动惯量变化较大且难以确定等问题,提出一种基于改进预测迭代学习控制的姿态敏捷机动控制方法。首先,以改进递阶饱和控制作为反馈控制器,实现原系统的稳定。其次,加入改进预测迭代学习控制作为前馈控制器,提高系统动态性能、鲁棒性与敏捷性。然后，采用基于混合执行机构的零运动操纵律提供高精度大力矩，并解决控制力矩陀螺奇异和飞轮饱和问题。最后,通过仿真证明所提控制器的优越性。

关键词: 姿态敏捷控制, 不确定参数, 递阶饱和控制, 迭代学习, 混合执行机构

Abstract:

Aiming at the problems existing in the operation of the satellite, such as the change of the moment of inertia of the satellite after the on orbit assembly upgrade is large and difficult to determine, an attitude agile maneuver control method based on the improved predictive iterative learning control is proposed. Firstly, the improved cascade saturation control is used as the feedback controller to realize the stability of the original system. Secondly, the improved predictive iterative learning control is added as the feedforward controller to improve the dynamic performance, robustness and agility of the system. Then, the zero motion control law based on hybrid actuator is used to provide high precision and large torque, and the singularity of control moment gyroscope and the saturation of flywheel are solved. Finally, the superiority of the proposed controller is proved by simulation.

Key words: attitude agile control, uncertain parameter, cascade saturation control, iterative learning, hybrid actuator

中图分类号:

V448.22+2

柯晓曼, 吴云华, 郑墨泓, 李文星, 杜津铭, 华冰, 陈志明. 基于改进迭代学习的参数不确定卫星姿态控制[J]. 系统工程与电子技术, 2021, 43(2): 508-518.

Xiaoman KE, Yunhua WU, Mohong ZHENG, Wenxing LI, Jinming DU, Bing HUA, Zhiming CHEN. Attitude control for spacecraft with uncertain parameters based on improved iterative learning[J]. Systems Engineering and Electronics, 2021, 43(2): 508-518.

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参数	取值
转动惯量不确定性χ/%	50
转动惯量J/(kg·m²)	$\left[ {\begin{array}{*{20}{c}}{2.25}&{ - 0.05}&{0.04}\\{ - 0.05}&{3.95}&{0.1}\\{0.075}&{0.12}&{3.8}\end{array}} \right] $
控制约束U/(N·m)	0.05
最大机动角速度ω_max/((°)/s)	2.5
最大机动角加速度a/((°)/s²)	0.6U[1/J_x 1/J_y 1/J_z]
控制增益p, c, k_p, k_d	50, 18, 0.1, 0.4
采样周期δ/s	0.1
反步法控制器参数 α, b₁, b₂, b₃, b₄, b₅, b₆	0.25, 5, 5, 5, 0.01, diag(10.6, 10.2, 10.4), 0.004

参数	量值
CMG转子动量矩h₀/(N·m·s)	0.4
CMG框架倾角β/(°)	54.04
CMG框架角初值α₀/(°)	[30, 70, 40, -100]
CMG框架角速度最大值ȧ_max/(rad/s)	1
RW转动惯量J_RW/(kg·m²)	diag(35, 35, 35)10^-4
RW角速度初值Ω₀/(r/min)	[25/6 25/6 25/6]
RW角速度最大值Ω_max/(r/min)	3 000
RW角加速度最大值$ {{\mathit{\dot \Omega }}_{\max }}$/(rad/s²)	10
加权矩阵W	diag(5, 5, 5, 5, 500, 500, 500)
零运动强度$\vartheta $	180exp(-10S_CMG)
性能函数参数 τ₁, τ₂, λ₁, λ₂, λ₃	80, 100, 1/9, 5/9, 3/9

层数	最大波峰值/(°)	调节时间/s
1	1.776	39.288
2	1.545	38.734
9	8.347×10^－2	37.941
10	4.081×10^－2	36.489

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