北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (6): 1061-1071.doi: 10.13700/j.bh.1001-5965.2016.0414

• 论文 • 上一篇    下一篇

基于PCH模型的航天器姿态无源控制

王青1, 龚立纲1, 董朝阳2   

  1. 1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100083;
    2. 北京航空航天大学 航空科学与工程学院, 北京 100083
  • 收稿日期:2016-05-18 出版日期:2017-06-20 发布日期:2016-10-17
  • 通讯作者: 王青,E-mail:bhwangqing@126.com E-mail:bhwangqing@126.com
  • 作者简介:王青 女,博士,教授,博士生导师。主要研究方向:航天器控制、飞行器制导控制一体化、故障检测;龚立纲 男,博士研究生。主要研究方向:飞行器控制、非线性控制理论及应用;董朝阳 男,博士,教授,博士生导师。主要研究方向:飞行器总体设计、电器系统综合。
  • 基金资助:
    国家自然科学基金(61374012)

Spacecraft attitude passivity control based on PCH model

WANG Qing1, GONG Ligang1, DONG Chaoyang2   

  1. 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
    2. School of Aeronautic Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2016-05-18 Online:2017-06-20 Published:2016-10-17
  • Supported by:
    National Natural Science Foundation of China (61374012)

摘要: 针对存在干扰力矩的航天器姿态控制问题,从能量角度提出一种基于端口受控哈密顿(PCH)系统模型的无源控制方法。通过将姿态控制系统表示为PCH形式,并增加与姿态误差积分有关的状态,利用互联和阻尼分配无源控制(IDA-PBC)方法进行控制器设计,使得闭环系统具有期望的内部互连结构关系和能量耗散特性,所提出的控制方案能保证系统的输入-状态稳定性。进一步,考虑执行器的动态特性,利用反步法对控制指令进行补偿设计,结合指令滤波技术避免对虚拟控制量高阶导数的计算,并从理论上证明了闭环系统一致最终有界。仿真结果验证了本文所提控制方法相比于单独基于无源性控制方法的性能优势。

关键词: 航天器, 姿态控制, 哈密顿系统, 无源性, 阻尼分配

Abstract: For the spacecraft attitude control problem in the presence of disturbance torques, a passivity control scheme based on port-controlled Hamiltonian (PCH) system model was proposed from the perspective of energy. By writing the attitude control system in a PCH form and adding the state related to integral of attitude error, the interconnection and damping assignment passivity-based control (IDA-PBC) method was then utilized to design the controller and provide the closed-loop system with desired internal interconnection structure and energy dissipativity properties. The proposed control scheme can guarantee input-to-state stability of closed-loop system. The actuator dynamics was then considered and backstepping control scheme was utilized to compensate for control command. Combined with command filtering technique, the computation of higher order derivatives of virtual control was avoided and uniform ultimate boundedness of the closed-loop system was proved theoretically. Simulation results validate the performance advantage of the proposed control scheme over that based on passivity alone.

Key words: spacecraft, attitude control, Hamiltonian system, passivity, damping assignment

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