北京航空航天大学学报 ›› 2014, Vol. 40 ›› Issue (10): 1323-1328.doi: 10.13700/j.bh.1001-5965.2013.0638

• 论文 •    下一篇

基于Terminal滑模的小行星探测器着陆连续控制

刘克平, 曾建鹏, 赵博, 李元春   

  1. 长春工业大学 电气与电子工程学院, 长春 130012
  • 收稿日期:2013-11-06 出版日期:2014-10-20 发布日期:2014-10-29
  • 作者简介:刘克平(1971-),男,吉林长春人,教授,liukeping@mail.ccut.edu.cn.
  • 基金资助:

    国家973重点基础研究发展计划资助项目(2012CB720000)

Continuous control for probe landing based on Terminal sliding mode

Liu Keping, Zeng Jianpeng, Zhao Bo, Li Yuanchun   

  1. College of Electrical and Electronic Engineering, Changchun University of Technology, Changchun 130012, China
  • Received:2013-11-06 Online:2014-10-20 Published:2014-10-29

摘要:

针对弱引力场不规则小行星探测器安全下降与着陆,提出了一种基于比例微分(PD,Proportional plus Derivative)及非奇异Terminal滑模的连续控制方法.在着陆点坐标系下推导了探测器的动力学方程,设计了开环燃料次最优多项式标称轨迹制导方法.针对下降和着陆两个不同阶段提出了PD和非奇异Terminal滑模变结构连续控制方法.将PD控制的易操作性与非奇异Terminal滑模控制收敛速度快、调整时间短有效结合,保证了探测器安全着陆.仿真结果表明了提出方法的可行性和有效性.

关键词: 小行星, 软着陆, PD控制, Terminal滑模控制, 连续控制

Abstract:

For the probe descending and landing safely, a continuous control method based on proportional plus derivative (PD) and nonsingular Terminal sliding mode was proposed. First, the dynamic equation was deduced in the landing site coordinate system. Then the nominal trajectory guidance method based on optimal polynomial in open-loop state was designed, by which the consumption of fuel was suboptimal. Third, the operability of PD control method was combined with the fast convergence and short adjustment time of nonsingular Terminal sliding mode control method. In the descending phase, the PD control method was adopted. In the landing phase, the continuous control method based on nonsingular Terminal sliding mode variable structure was adopted. The influence caused by uncertainty during landing was compensated by nonsingular Terminal sliding mode control, which could effectively suppress the influence of external disturbance and weaken the system chattering. Finally, simulation results demonstrate that the probe can land safely, and also show the effectiveness and robustness of the proposed method.

Key words: asteroid, soft landing, PD control, Terminal sliding mode control, continuous control

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