事件触发机制下的充液航天器姿态控制

董新蕾; 齐瑞云; 卢山; 王焕杰

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

doi: 10.13700/j.bh.1001-5965.2020.0282

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

基金项目:

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

详细信息

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

通讯作者:
齐瑞云. E-mail: ruiyun.qi@nuaa.edu.cn

中图分类号: V448.2
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- 被引次数: 0
出版历程
- 收稿日期: 2020-06-19
- 录用日期: 2020-07-17
- 网络出版日期: 2021-02-20

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

Funds:

National Natural Science Foundation of China 61873127

Aeronautical Science Foundation of China 2017ZA52013

High Level Talent Support Project of "Six Talent Peaks" in Jiangsu Province HKHT-010

More Information

Corresponding author: QI Ruiyun. E-mail: ruiyun.qi@nuaa.edu.cn

摘要

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。
- 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.
- event-triggering mechanism /
- large-amplitude liquid sloshing /
- adaptive sliding mode control /
- liquid-filled spacecraft /
- attitude control

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图 1 充液航天器的模型示意图

Figure 1. Schematic diagram of liquid-filled spacecraft model

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图 2 事件触发机制的姿态控制系统框图^{[15, 21-22]}

Figure 2. Attitude control system block diagram of event-triggering mechanism^{[15, 21-22]}

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图 3 航天器的角速度变化曲线

Figure 3. Curves of spacecraft angular velocities

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图 4 航天器的姿态四元数变化曲线

Figure 4. Curves of spacecraft attitude quaternions

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图 5 航天器的控制力矩变化曲线

Figure 5. Curves of spacecraft control torques

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图 6 事件触发的时间间隔

Figure 6. Event-triggering interval

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