事件触发机制下的充液航天器姿态控制

doi:10.13700/j.bh.1001-5965.2020.0282

北京航空航天大学学报 ›› 2021, Vol. 47 ›› Issue (2): 382-390.doi: 10.13700/j.bh.1001-5965.2020.0282

事件触发机制下的充液航天器姿态控制

董新蕾^1,2, 齐瑞云^1,2, 卢山^3,4, 王焕杰^3,4

1. 南京航空航天大学自动化学院, 南京 211106;
2. 南京航空航天大学先进飞行器导航、控制与健康管理工业和信息化部重点实验室, 南京 211106;
3. 上海航天控制技术研究所, 上海 201109;
4. 上海市空间智能控制技术重点实验室, 上海 201109

收稿日期:2020-06-19 发布日期:2021-03-08
通讯作者: 齐瑞云 E-mail:ruiyun.qi@nuaa.edu.cn
作者简介:董新蕾,女,硕士研究生。主要研究方向:充液航天器姿态控制;齐瑞云,女,博士,教授,博士生导师。主要研究方向:模糊自适应控制与航空航天器容错控制;卢山,男,博士,研究员。主要研究方向:空间飞行器导航、制导与控制技术;王焕杰,男,硕士。主要研究方向:飞行器姿态控制系统设计。
基金资助:
国家自然科学基金（61873127）；航空科学基金（2017ZA52013）；江苏省“六大人才高峰”高层次人才项目（HKHT-010）

Event-triggered attitude control of liquid-filled spacecraft

DONG Xinlei^1,2, QI Ruiyun^1,2, LU Shan^3,4, WANG Huanjie^3,4

1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;
2. Key Laboratory of Navigation, Control and Health-Management Technologies of Advanced Aerocraft, Ministry of Industry and Information Technology, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;
3. Shanghai Aerospace Control Technology Institute, Shanghai 201109, China;
4. Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai 201109, China

Received:2020-06-19 Published:2021-03-08

摘要/Abstract

摘要： 针对液体大幅晃动、通信资源受限的充液航天器姿态控制系统，提出一种自适应滑模控制与事件触发机制相结合的控制策略。首先，针对固-液耦合的充液航天器姿态控制系统，选用滑模变结构控制来削弱液体大幅晃动的非线性影响，并设计自适应更新律在线估计不确定参数来提高系统的鲁棒性。然后，考虑星载计算机资源的限制，设计相对阈值的事件触发机制来决定控制输入信号的更新，从而减少控制器与执行器之间的信号更新对通信网络的占用。最后，仿真结果表明，在液体大幅晃动下，所提控制策略不但可以使航天器姿态控制系统最终收敛到任意小的界内，而且可以减少96%的控制信号传输，减轻航天器的通信负载。

关键词: 事件触发机制, 液体大幅晃动, 自适应滑模控制, 充液航天器, 姿态控制

Abstract: Aimed at the attitude system of liquid-filled spacecraft with large-amplitude liquid sloshing and limited communication resources, a control strategy combining adaptive sliding mode control and event-triggering mechanism is proposed. First, sliding mode variable structure control is used to weaken the nonlinear effect of large-amplitude liquid sloshing for a liquid-solid coupled spacecraft attitude system, and an adaptive updating law is designed to estimate the uncertain parameters online to improve the robustness of the system. Then, considering the limitation of onboard computer resources, an event-triggering mechanism with relative threshold is designed to determine the update of control input signal, so as to reduce the occupation of communication network caused by signal update between controller and actuator. Finally, the simulation results show that, under large-amplitude liquid sloshing, the control strategy can not only make the spacecraft attitude system converge to an arbitrary small boundary, but also reduce the control signal transmission by 96% and reduce the communication load of spacecraft.

Key words: event-triggering mechanism, large-amplitude liquid sloshing, adaptive sliding mode control, liquid-filled spacecraft, attitude control

中图分类号:

V448.2

董新蕾, 齐瑞云, 卢山, 王焕杰. 事件触发机制下的充液航天器姿态控制[J]. 北京航空航天大学学报, 2021, 47(2): 382-390.

DONG Xinlei, QI Ruiyun, LU Shan, WANG Huanjie. Event-triggered attitude control of liquid-filled spacecraft[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(2): 382-390.

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事件触发机制下的充液航天器姿态控制

Event-triggered attitude control of liquid-filled spacecraft

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