基于矩阵分解的空间系绳系统不完全反馈控制

doi:10.13700/j.bh.1001-5965.2018.0533

北京航空航天大学学报 ›› 2019, Vol. 45 ›› Issue (5): 902-911.doi: 10.13700/j.bh.1001-5965.2018.0533

基于矩阵分解的空间系绳系统不完全反馈控制

王长青^1,2, 付立春^1,2, 扎波罗特诺夫·尤里³, 李爱军^1,2

1. 西北工业大学自动化学院, 西安 71007;
2. 西北工业大学中俄国际空间系绳系统研究中心, 西安 710072;
3. 俄罗斯萨马拉国家研究型大学, 萨马拉 443086

收稿日期:2018-09-07 出版日期:2019-05-20 发布日期:2019-05-21
通讯作者: 王长青.E-mail:wangcq@nwpu.edu.cn E-mail:wangcq@nwpu.edu.cn
作者简介:王长青男,博士,副教授,硕士生导师。主要研究方向:飞行器控制与仿真、空间系绳系统动力学与控制等;付立春女,硕士研究生。主要研究方向:空间系绳系统动力学与控制;扎波罗特诺夫·尤里男,俄罗斯正博士,教授,博士生导师。主要研究方向:复杂飞行系统空间飞行动力学与控制、空间系绳系统动力学与控制;李爱军男,博士,教授,博士生导师。主要研究方向:飞行器控制与仿真、空间系绳系统动力学与控制等。
基金资助:
中央高校基本科研业务费专项资金（3102017JC06002）；陕西省重点研发计划（2017KW-ZD-04）

Matrix decomposition based control for space tether system with incomplete state feedback

WANG Changqing^1,2, FU Lichun^1,2, ZABOLOTNOV Yuriy³, LI Aijun^1,2

1. College of Automation, Northwestern Polytechnical University, Xi'an 71007;
2. China-Russia International Research Center of Space Tether System, Northwestern Polytechnical University, Xi'an 710072, China;
3. Samara National Research University, Samara 443086, Russia

Received:2018-09-07 Online:2019-05-20 Published:2019-05-21

摘要/Abstract

摘要： 针对利用空间系绳系统（STS）进行面内捕获过程中系绳展开后状态保持阶段及捕获完成后系统面内运动抑制等问题，在面内角和面内角速率信号丢失情况下，基于矩阵分解采用不完全状态反馈控制方法，设计出能够抑制系绳展开完成后所出现的非标称行为、捕获后面内摆动的张力控制律，进而使系统回稳。将所设计的控制律与线性二次调节器（LQR）+降维观测器方法对比，在参数不确定的条件下检验该控制律的控制效果。仿真结果表明，所设计的控制律在超调量和调节时间上优于LQR+降维观测器方法，能够有效控制系绳的展开误差及捕获过程所带来的面内扰动。所设计的控制律结构简单，控制效果良好，且设计过程无需参数调整。

关键词: 空间系绳系统(STS), 捕获, 矩阵分解, 不完全反馈, 稳定

Abstract: A solution to the stage of state-keeping after tether deployment or stage of tether in-plane motion stabilization after payload capture with space tether system (STS) in the case of incomplete state feedback is proposed, which is based on matrix decomposition. Feedbacks of in-plane angle and its angular velocity are assumed to be absent. Tension controller is designed to surpass tether non-normal behavior after deployment and in-plane swing in-plane after payload to make the system return to stable state. Conventional combination method of linear quadratic regulator (LQR) + reduced dimension observer is also introduced for comparison with the proposed controller. Effectiveness of the proposed controller is validated with perturbed parameters. The simulation results indicate that the proposed control law demonstrates better performance in overshoot and settling time than LQR + reduced dimension observer method. Deployment error of tether and in-plane perturbation are effectively controlled by the proposed control law. The proposed control law has the advantages of structural simplicity, good control effectiveness, and no parameter adjustment in design process.

Key words: space tether system (STS), capture, matrix decomposition, incomplete state feedback, stabilization

中图分类号:

V448.2

王长青, 付立春, 扎波罗特诺夫·尤里, 李爱军. 基于矩阵分解的空间系绳系统不完全反馈控制[J]. 北京航空航天大学学报, 2019, 45(5): 902-911.

WANG Changqing, FU Lichun, ZABOLOTNOV Yuriy, LI Aijun. Matrix decomposition based control for space tether system with incomplete state feedback[J]. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2019, 45(5): 902-911.

参考文献

[1] PASCA M.Nonlinear control of tethered satellite system oscillations[J].Nonlinear Analysis,1997,30(6):3867-3878.
[2] WILLIAMS P,WATANABE T,BLANKSBY C,et al.Libration control of flexible tethers using electromagnetic forces and movable attachment[J].Journal of Guidance,Control,and Dynamics,2004,27(5):882-897.
[3] MANKALA K K,AGRAWAL S K.A boundary controller based on linear infinite dimensional system for station keeping of a tethered satellite system[C]//American Control Conference.Piscataway,NJ:IEEE Press,2006:9036818.
[4] LARSEN M B,BLANKE M.Control by damping injection of electrodynamic tether system in an inclined orbit[C]//American Control Conference.Piscataway,NJ:IEEE Press,2009:4824-4829.
[5] YU B S,JIN D,WEN H.Nonlinear dynamics of flexible tethered satellite system subject to space environment[J].Applied Mathematics and Mechanics(English Edition),2016,37(4):485-500.
[6] 余本嵩.复杂太空环境下柔性绳系卫星动力学与控制[D].南京:南京航空航天大学,2011:91-94.YU B S.Dynamics and control of flexible tethered satellite in complex space environment[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2011:91-94(in Chinese).
[7] 庞兆君.绳系卫星状态保持阶段运动分析与控制[D].南京:南京航空航天大学,2015:39-42.PANG Z J.Motions and their controls of tethered satellite systems during station-keeping[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2015:39-42(in Chinese).
[8] SUN L,ZHAO G W,HUANG H.Stability and control of tethered satellite with chemical propulsion in orbital plane[J].Nonlinear Dynamics,2013,74(4):1113-1131.
[9] 孙亮,赵国伟,黄海,等.面内轨道转移过程中的绳系系统摆振特性研究[J].航空学报,2012,33(7):1245-1254.SUN L,ZHAO G W,HUANG H,el al.Analysis of librational and vibrational characteristics for tethered systems during orbital transfer in plan[J].Acta Aeronautica et Astronautica Sinica,2012,33(7):1245-1254(in Chinese).
[10] 张帆,黄攀峰.空间绳系机器人抓捕非合作目标的质量特性参数辨识[J].宇航学报,2015,36(6):630-639.ZHANG F,HUANG P F.Inertia parameter estimation for an noncooperative target captured by a space tethered system[J].Journal of Astronautics,2015,36(6):630-639(in Chinese).
[11] 赵国伟,张兴民,唐斌,等.空间绳系拖拽系统摆动特性与平稳控制[J].北京航空航天大学学报,2016,42(4):694-702.ZHAO G W,ZHANG X M,TANG B,et al.Properties of pendulum motion of tether tugging system and its stable control[J].Journal of Beijing University of Aeronautics and Astronautics,2016,42(4):694-702(in Chinese).
[12] 张宇靖,钟睿.基于非线性模型预测的绳系系统系绳摆振控制[J].北京航空航天大学学报,2018,44(10):2200-2207.ZHANG Y J,ZHONG R.Tether swing control of tether system based on nonlinear model prediction[J].Journal of Beijing University of Aeronautics and Astronautics,2018,44(10):2200-2207(in Chinese).
[13] LORENZINI E C.Error-tolerant technique for catching a spacecraft with a spinning tether[J].Journal of Vibration and Control,2004,10(10):1473-1491.
[14] 王班,易琳,郭吉丰,等.一种基于摆长反复小幅改变的面内摆动抑制方法[J].四川大学学报(工程科学版),2014,46(6):191-197.WANG B,YI L,GUO J F,et al.An in-plane swing damping method based on pendulum length changed repeatedly[J].Journal of Sichuan University(Engineering Science Edition),2014,46(6):191-197(in Chinese).
[15] 李超,王长青,李爱军,等.基于标准系数法的空间系绳系统状态保持稳定控制[J].航天控制,2014,32(2):73-77.LI C,WANG C Q,LI A J,et al.Stability control for station-keeping phase of space tether system based on standard coefficient method[J].Aerospace Control,2014,32(2):73-77(in Chinese).
[16] BANGHAM M E,LORENZINI E C,VESTAL L.Tether transportation system study:NASA/TP-1998-206959[R].Washington, D.C.:NASA,1998.
[17] CHEN Y,HUANG R,REN X,et al.History of the tether concept and tether missions:A review[J].ISRN Astronomy and Astrophysics,2013,2013:502973.
[18] ASHIDA H,FUJIHASHI K,INAGAWA S,et al.Design of Tokyo tech nano-satellite CUTE-1.7+APD Ⅱ and its operation[J].Acta Astronautica,2010,66(9):1412-1424.
[19] WEN H,ZHU Z H,JIN D,et al.Space tether deployment control with explicit tension constraint and saturation function[J].Journal of Guidance,Control,and Dynamics,2016,39(4):916-921.
[20] WILLIAMS P,BLANKSBY C,TRIVAILO P,et al.In-plane payload capture using tethers[J].Acta Astronautica,2005,57(10):772-787.
[21] KRUIJFF M,VAN DER HEIDE E,OCKELS W,et al.First mission results of the YES2 tethered SpaceMail experiment[C]//AIAA/AAS Astrodynamics Specialist Conference and Exhibit.Reston:AIAA,2008:7385.

基于矩阵分解的空间系绳系统不完全反馈控制

Matrix decomposition based control for space tether system with incomplete state feedback

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	郝宝新, 周志成, 曲广吉, 李东泽. 桁架拓扑优化几何稳定性判定法和约束方案比较[J]. 北京航空航天大学学报, 2019, 45(8): 1663-1673.
[2]	孔岳, 李敏, 陈伟民. 裂纹矩张量反演的传感器排布形式[J]. 北京航空航天大学学报, 2019, 45(7): 1380-1387.
[3]	刘畅, 杨锁昌, 汪连栋, 张宽桥. 基于快速自适应超螺旋算法的制导律[J]. 北京航空航天大学学报, 2019, 45(7): 1388-1397.
[4]	虞江航, 徐军, 黄雨可. 一类反馈型非线性系统的跟踪控制[J]. 北京航空航天大学学报, 2019, 45(7): 1444-1450.
[5]	周驰, 李颖晖, 郑无计, 武朋玮, 董泽洪. 结冰飞机非线性稳定域确定及安全操纵方法[J]. 北京航空航天大学学报, 2019, 45(4): 705-713.
[6]	董洋, 王春洁, 吴宏宇, 丁宗茂, 满剑锋. 触地关机模式下的着陆器软着陆稳定性研究[J]. 北京航空航天大学学报, 2019, 45(2): 317-324.
[7]	李宏刚, 高哈尔·达吾力, 王帅, 余贵珍, 王朋成. 考虑临近车道行人对交通流影响的改进跟驰模型[J]. 北京航空航天大学学报, 2019, 45(2): 422-428.
[8]	姚京京, 郑德智, 马康, 朱凯, 樊尚春. 多轴悬浮式低频振动传感器的理论研究[J]. 北京航空航天大学学报, 2018, 44(7): 1481-1488.
[9]	赵越, 杨立军. 沿多孔壁面流动的液膜线性稳定性分析[J]. 北京航空航天大学学报, 2018, 44(6): 1258-1264.
[10]	高冬, 宋智斌, 赵亚茹. 干扰观测器在一种非线性刚度驱动器中的应用[J]. 北京航空航天大学学报, 2018, 44(6): 1328-1336.
[11]	张春熹, 李先慕, 高爽. 基于稀疏傅里叶变换的快速捕获方法[J]. 北京航空航天大学学报, 2018, 44(4): 670-676.
[12]	郑赟, 余永博. 轴向间距对转子叶片颤振特性的影响机理[J]. 北京航空航天大学学报, 2018, 44(4): 709-716.
[13]	陈霄, 刘忠, 张建强, 董蛟, 周德超. 基于改进积分视线导引策略的欠驱动无人水面艇路径跟踪[J]. 北京航空航天大学学报, 2018, 44(3): 489-499.
[14]	丁宗茂, 王春洁, 吴宏宇, 丁建中, 郭璠. 探测器触地关机软着陆稳定性分析[J]. 北京航空航天大学学报, 2018, 44(3): 614-620.
[15]	徐亚茹, 刘荣. 一种爬壁机器人动力学建模方法[J]. 北京航空航天大学学报, 2018, 44(2): 280-285.