北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (9): 1567-1573.doi: 10.13700/j.bh.1001-5965.2014.0687

• 论文 • 上一篇    下一篇

漂浮基转台线性化状态反馈指向与跟踪控制

赵国伟1, 王伟民1, 方艺忠2, 王灏宇1   

  1. 1. 北京航空航天大学 宇航学院, 北京 100191;
    2. 北京航天长征飞行器研究所 试验物理与计算数学国家级重点实验室, 北京 100076
  • 收稿日期:2014-11-06 出版日期:2015-09-20 发布日期:2015-09-29
  • 通讯作者: 赵国伟(1976—),男,甘肃景泰人,副教授,zhaoguowei@buaa.edu.cn,主要研究方向为航天飞行器设计、航天器结构机构动力学与控制. E-mail:zhaoguowei@buaa.edu.cn

Pointing and tracking control with linearization and state feedback for gimbal on floating platform

ZHAO Guowei1, WANG Weimin1, FANG Yizhong2, WANG Haoyu1   

  1. 1. School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. National Key Laboratory of Experimental Physics and Computational Mathematics, Beijing Institute of Space Long March Vehicle, Beijing 100076, China
  • Received:2014-11-06 Online:2015-09-20 Published:2015-09-29

摘要: 在空间漂浮平台上,两自由度转台在跟踪指向空间目标的过程中对平台会产生姿态扰动,使平台姿态发生变化,从而影响转台末端的空间指向,降低指向跟踪精度,因此转台与平台间存在耦合关系.当指向机构的转动惯量相对较大或快速精密指向时这种耦合关系变得不可忽视.为改善这一情况下的跟踪控制精度,提出了耦合补偿方法,加入平台实时姿态来修正转台跟踪的目标,并使用结合反馈线性化的状态反馈控制方法,最终通过仿真实验与传统PD控制方法进行对比,结果表明结合反馈线性化的状态反馈控制方法有效提高了跟踪精度.

关键词: 漂浮基, 跟踪控制, 耦合关系, 反馈线性化, 状态反馈

Abstract: 2-DOF (degree of freedom) gimbal mounted on floating space platform caused attitude disturbance to the platform while pointing and tracking a space object. Therefore the attitude of platform was affected then the pointing direction of the end of the gimbal changed and the pointing accuracy was reduced. So the gimbal and the platform were dynamically coupled. This problem could not be ignored especially when the inertia of the gimbal was not small enough compared to that of the platform or when the gimbal was rotating fast. In order to solve this problem, a coupling compensation method was put forward. In this method, attitude motion of platform caused by the rotation of gimbal was considered to revise the tracking target of the gimbal. Furthermore, feedback linearized state feedback was used as control method. At last a simulation was carried out to compare the pointing accuracy between traditional PD control method and the method put forward. It is verified that the pointing accuracy is efficiently improved by using linearization and state feedback as control method.

Key words: floating platforms, tracking control, coupling, feedback linearization, state feedback

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