Attitude measurement and control method of flexible spacecraft based on distributed installation MSCSG
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摘要:
为实现挠性航天器姿态振动的高精度测控一体化，提出一种基于分布式安装磁悬浮控制敏感陀螺(MSCSG)和径向基函数(RBF)神经网络的挠性航天器姿态振动测控一体化方法。建立挠性附件上分布式安装MSCSG的航天器动力学模型，分析MSCSG对挠性附件振动测量和控制的机理；在此基础上，设计神经网络鲁棒自适应状态反馈控制器，通过神经网络对分布式安装MSCSG带来的系统非线性项及外部扰动进行逼近，实现MSCSG输出控制力矩抑制挠性附件低频振动，同时，对挠性附件形变进行测量。刚体上安装的MSCSG群同时实现航天器姿态的测量与控制。仿真结果表明：所提方法相较于传统基于模态观测器的自适应控制方法，姿态控制精度及振动抑制效果均得到大幅提升。
Abstract:In order to realize the integration of high-precision measurement and control of attitude vibration of a flexure spacecraft, an integrated method of attitude vibration measurement and control of a flexible spacecraft based on the distributed mounting of a magnetically suspended control sensitive gyroscope (MSCSG) and a radial basis function (RBF) neural network is proposed. Firstly, a spacecraft dynamics model with distributed mounted MSCSG on the flexible attachment is established, and the mechanism of vibration measurement and control of the flexible attachment by MSCSG is analyzed. Based on this, a neural network robust adaptive state feedback controller is designed, and the control torque output from MSCSG is realized suppression of low-frequency vibration of the flexible attachment while also measuring the deformation of the flexible attachment. The neural network approximates the nonlinear terms of the system and external perturbations brought about by distributed mounted MSCSG. The MSCSG cluster installed on the rigid body simultaneously realizes the measurement and control of spacecraft attitude. Simulation results show that the attitude control accuracy and vibration suppression effect of the proposed method are greatly improved compared with the traditional adaptive control method based on a modal observer.
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图 2 4角安装MSCSG的挠性航天器模型
Figure 2. Flexible spacecraft model with MSCSG mounted at the four corners
图 8 加入模态控制的挠性附件前4阶模态
Figure 8. The first four modes of the flexible attachment with modal control
图 9 新方法加入模态控制的航天器姿态
Figure 9. Spacecraft attitude controlled by new method with modal control
图 10 新方法加入模态控制的挠性附件前4阶模态
Figure 10. The first four modes of the flexible attachment controlled by new method with modal control
图 12 挠性附件上4个MSCSG转子偏转角
Figure 12. Four MSCSG rotor deflection angles on flexible attachment
图 13 挠性附件上4个MSCSG处Z轴弹性转角及其测量值
Figure 13. Z-axis elastic angles of rotation at 4 MSCSGs on the flexible attachment and their measured values
图 14 挠性附件上4个MSCSG处Z轴弹性转角测量误差
Figure 14. Measuring errors of Z-axis elastic angles of rotation at 4 MSCSGs on the flexible attachment
表 1 仿真系统参数
Table 1. Simulation system parameters
转子X轴转动
惯量/(kg·m2)转子Y轴转动
惯量/(kg·m2)转子Z轴转动
惯量/(kg·m2)挠性附件上转子
转速/(r·min−1)刚体上转子
转速/(r·min−1)转子
质量/kgζ μ ρ 0.0097 0.0097 0.0166 1000 8000 8.95 0.5 0.2 0.35 
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