基于非线性干扰观测器的航天器相对姿轨耦合控制

刘增波; 乔建忠; 郭雷; 刘宗玉; 范松涛

doi:10.13700/j.bh.1001-5965.2019.0546

基于非线性干扰观测器的航天器相对姿轨耦合控制

doi: 10.13700/j.bh.1001-5965.2019.0546

刘增波^{1, 2, ,},
乔建忠²,
郭雷²,
刘宗玉¹,
范松涛¹

1.
北京控制工程研究所, 北京 100090
2.
北京航空航天大学自动化科学与电气工程学院, 北京 100083

详细信息

作者简介:
刘增波男, 博士研究生, 高级工程师。主要研究方向:航天器导航制导与控制

通讯作者:
刘增波, E-mail: liuzengbo@buaa.edu.cn

中图分类号: V448.2;O231.2
计量
- 文章访问数: 649
- HTML全文浏览量: 104
- PDF下载量: 111
- 被引次数: 0
出版历程
- 收稿日期: 2019-10-16
- 录用日期: 2020-01-03
- 网络出版日期: 2020-10-20

Nonlinear disturbance observer based control for relative position and attitude coupled spacecraft

1.
Beijing Institute of Control Engineering, Beijing 100090, China
2.
School of Automation Science and Electrical Engineering, Beihang University, Beijing 100083, China

More Information

Corresponding author: LIU Zengbo, E-mail: liuzengbo@buaa.edu.cn

摘要

摘要:
针对带挠性附件的服务航天器在近距离逼近失控目标航天器时的控制问题，考虑由于推进安装偏差导致的姿轨耦合，通过选用相对位置和相对姿态四元数作为状态向量，建立了服务航天器与失控目标航天器的相对位置和姿态动力学方程。考虑服务航天器的挠性附件影响，挠性振动可以视为位置和姿态控制系统微分有界的干扰。基于反馈线性化方法提出了非线性反馈控制律，设计了非线性干扰观测器，用于补偿可建模干扰，并基于所提非线性反馈控制律和非线性干扰观测器设计了复合控制器，其中非线性干扰观测器用于补偿挠性附件产生的干扰。数字仿真及半物理实物闭环验证表明，利用所设计的复合控制器能够有效补偿干扰，同时在对失控目标航天器跟踪时具有很好的鲁棒性。
- 非合作交会 /
- 非线性反馈控制 /
- 复合分层 /
- 干扰观测 /
- 干扰补偿
Abstract:
This paper studies the control problem of approaching and docking autonomously system including an on-orbit servicing spacecraft with flexible appendages and an out-of-control target considering the coupled relative position and attitude dynamic. Choosing the relative position and the relative attitude quaternion as the system state and considering the relative position and attitude coupled which is produced by the propulsion installation error, the relative position and attitude coupled dynamics model of the servicing spacecraft with respect to the out-of-control target is established in the form of state equation. While considering the flexible appendages of servicing spacecraft, the vibration from flexible appendages is modeled as a derivative-bounded disturbance to the position and attitude control system of the rigid body. Then a nonlinear feedback control algorithm is proposed based on feedback linearization. Aimed at attenuating the modeled disturbance, a disturbance-observer-based control is formulated for feed forward compensation of the elastic vibration. Then a composite controller with a hierarchical architecture is designed by combining disturbance-observer-based control and nonlinear feedback control, where disturbance-observer-based control is used to compensate the disturbance from the flexible appendages. Numerical simulations and semi-physicd closed-loop experiments are performed to demonstrate that by using the composite hierarchical control law, disturbances can be effectively attenuated and the nonlinear feedback control law is robust with perfect tracking performance.
- non-cooperative rendezvous and docking /
- nonlinear feedback control /
- composite controller with hierarchical architecture /
- disturbance observe /
- disturbance compensation

HTML全文

图 1 控制系统结构

Figure 1. Structure of control system

下载: 全尺寸图片幻灯片

图 2 位置干扰估计误差曲线

Figure 2. Curves of position disturbance estimation error

下载: 全尺寸图片幻灯片

图 3 三轴位置跟踪误差曲线

Figure 3. Curves of tri-axial position tracking error

下载: 全尺寸图片幻灯片

图 4 三轴位置跟踪误差曲线局部放大图

Figure 4. Curves of tri-axial position tracking error (zoom in)

下载: 全尺寸图片幻灯片

图 5 姿态干扰估计误差曲线

Figure 5. Curves of attitude disturbance estimation error

下载: 全尺寸图片幻灯片

图 6 相对四元数曲线

Figure 6. Curves of relative quaternion

下载: 全尺寸图片幻灯片

图 7 相对四元数曲线局部放大图

Figure 7. Curves of relative quaternion (zoom in)

下载: 全尺寸图片幻灯片

图 8 实物仿真验证系统结构

Figure 8. Structure of physical simulation and validation system

下载: 全尺寸图片幻灯片

图 9 三轴位置控制曲线

Figure 9. Curves of tri-axial position control

下载: 全尺寸图片幻灯片

图 10 相对四元数控制曲线

Figure 10. Curves of relative quaternion control

下载: 全尺寸图片幻灯片

图 11 位置干扰力及估计曲线

Figure 11. Curves of position disturbance force and estimation

下载: 全尺寸图片幻灯片

图 12 姿态干扰力矩及估计曲线

Figure 12. Curves of attitude disturbance torque and estimation

下载: 全尺寸图片幻灯片

表 1 仿真输入条件

Table 1. Input conditions of simulation

序号	参数	数值
1	r₀/m	[5, 10, 100]^T
2		[0, 0, -0.1]^T
3	r_d/m	[0, 0, 20]^T
4	q_v0/(°)	[0.130, -0.086, -0.011]^T
5	q_vd/(°)	[0, 0, 0]^T
6	J_s/(kg·m²)	[2 249.4, -44.4, -8.9;-44.4, 11 487.4, 1.6;-8.9, 1.6, 11 201.3]
7	J_t/(kg·m²)	[150, 0, 0;0, 180, 0;0, 0, 210]
8	m/kg	1 278.3
9	ω_T/((°)·s^-1)	0.067
10	R_T/m	6.772 517 893 194 875×10⁶
11	p/m	6.772 560 943 093 867×10⁶

下载: 导出CSV

表 2 试验输入条件

Table 2. Input conditions of experiment

序号	参数	数值
1	r₀/m	[125, 1, -2]^T
2		[0, 0, -0.1]^T
3	r_d/m	[120, 0, 0]^T
4	q_v0/(°)	[0.008 877, -0.008 572, 0.017 527]^T
5	q_vd/(°)	[0, 0, 0]^T
6	J_s/(kg·m²)	[2 249.4, -44.4, -8.9;-44.4, 11 487.4, 1.6;-8.9, 1.6, 11 201.3]
7	J_t/(kg·m²)	[150, 0, 0;0, 180, 0;0, 0, 210]
8	m/kg	1 278.3
9	ω_T/((°)·s^-1)	0.067
10	R_T/m	6.772 517 893 194 875×10⁶
11	p/m	6.772 560 943 093 867×10⁶

下载: 导出CSV

参考文献(20)

[1]	徐李佳, 胡勇.非合作机动目标交会的相对位置控制术[J].空间控制技术与应用, 2015, 41(6):13-18. http://www.cnki.com.cn/Article/CJFDTotal-KJKZ201506004.htm XU L J, HU Y.Control for relative position of spacecraft rendezvous with a non-cooperative maneuver target[J].Aerospace Control and Application, 2015, 41(6):13-18(in Chinese). http://www.cnki.com.cn/Article/CJFDTotal-KJKZ201506004.htm
[2]	胡勇, 徐李佳, 解永春.针对失控翻滚目标航天器的交会对接控制[J].宇航学报, 2015, 36(1):47-57. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yhxb201501007 HU Y, XU L J, XIE Y C.Characteristic model based control in rendezvous and docking with a tumbling target.spacecraft[J].Journal of Astronautics, 2015, 36(1):47-57(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yhxb201501007
[3]	卢伟, 耿云海, 陈雪芹, 等.在轨服务航天器对目标的相对位置和姿态耦合控制[J].航空学报, 2011, 32(5):857-865. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=hkxb201105010 LU W, GENG Y H, CHEN X Q, et al.Coupled control of relative position of relative position and attitude for on-orbit servicing spacecraft with respect to target[J].Acta Aeronautica et Astronautica Sinica, 2011, 32(5):857-865(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=hkxb201105010
[4]	XIN M, PAN H J.Nonlinear optimal control of spacecraft approaching a tumbling target[J].Aerospace Science and Technology, 2011, 15(2):79-89. doi: 10.1016/j.ast.2010.05.009
[5]	姜博严, 胡庆雷, 石忠, 等.与自由翻滚目标近距离段交会对接的相对姿轨耦合控制[J].宇航学报, 2014, 35(1):54-60. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yhxb201401007 JIANG B Y, HU Q L, SHI Z, et al.Relative position and attitude coupled controller design for approaching and docking with a freely tumbling target[J].Journal of Astronautics, 2014, 35(1):54-60(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=yhxb201401007
[6]	LU W, GENG Y H, CHEN X Q, et al.Relative position and attitude coupled control for autonomous docking with a tumbling target[J].International Journal of Control and Automation, 2011, 4(4):1-22.
[7]	韩飞, 吴限德, 段广仁, 等.逼近与跟踪翻滚目标的双滑模面姿轨耦合控制[J].哈尔滨工程大学学报, 2018, 39(1):23-32. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=hebgcdxxb201801004 HAN F, WU X D, DUAN G R, et al.Attitude and orbit coupled dual slidingmode surface control for approaching and tracking tumbling target[J].Journal of Harbin Engineering University, 2018, 39(1):23-32(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=hebgcdxxb201801004
[8]	郭永, 宋申民, 李学辉.非合作交会对接的姿态和轨道耦合控制[J].控制理论与应用, 2016, 33(5):638-644. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=kzllyyy201605010 GUO Y, SONG S M, LI X H.Attitude and orbit coupled control for non-cooperative rendezvous and docking[J].Control Theory & Applications, 2016, 33(5):638-644(in Chinese). http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=kzllyyy201605010
[9]	LV Y Y, HU Q L, MA G F, et al.6-DOF synchronized control for spacecraft formation flying with input constraint and parameter uncertainties[J].ISA Transactions, 2011, 50(4):573-580. doi: 10.1016/j.isatra.2011.04.001
[10]	KRISTIANSEN R, NICKLASSON P J, GRAVDAHL J T.Spacecraft coordination control in 6-DOF:Integrator back-stepping vs passivity based control[J].Automatica, 2008, 44(11):2896-2904. doi: 10.1016/j.automatica.2008.04.019
[11]	SARIYILDIZ E, OHNISHI K.A guide to design disturbance observer[J].Journal of Dynamic Systems, Measurement, and Control, 2014, 136(2):021011. doi: 10.1115/1.4025801
[12]	CHEN W H, BALANCE D J, GAWTHROP P J, et al.A nonlinear disturbance observer for robotic manipulators[J].IEEE Transactions on Industrial Electronics, 2000, 47(4):932-938. doi: 10.1109/41.857974
[13]	GUO L, CHEN W.Disturbance attenuation and rejection for systems with nonlinearity via DOBC approach[J].International Journal of Robust and Nonlinear Control, 2005, 15(3):109-125. doi: 10.1002/rnc.978
[14]	GUO L, CAO S.Anti-disturbance control for systems with multiple disturbances[M].Boca Raton:CRC Press, 2013.
[15]	CHEN W H, YANG J, GUO L, et al.Disturbance observer-based control and related methods:An overview[J].IEEE Transactions on Industrial Electronics, 2016, 63(2):1083-1095. doi: 10.1109/TIE.2015.2478397
[16]	LIU H, GUO L, ZHANG Y M.An anti-disturbance PD control scheme for attitude control and stabilization of flexible spacecrafts[J].Nonlinear Dynamics, 2012, 67(3):2081-2088. doi: 10.1007/s11071-011-0130-3
[17]	ZHU Y K, QIAO J Z, GUO L, et al.Adaptive sliding mode disturbance observer-based composite control with prescribed performance of space manipulators for target capturing[J].IEEE Transactions on Industrial Electronics, 2019, 66(3):1973-1983. doi: 10.1109/TIE.2018.2838065
[18]	CHEN K Y.Robust optimal adaptive sliding mode control with the disturbance observer for a manipulator robot system[J].International Journal of Control, Automation, and Systems, 2018, 16(4):1701-1715. doi: 10.1007/s12555-017-0710-1
[19]	耿长福.航天器动力学[M].北京:中国科学技术出版社, 2008. GEN C F.Spacecraft dynamics[M].Beijing:China Science & Technology Press, 2008(in Chinese).
[20]	朱仁章.航天器交会对接技术[M].北京:国防工业出版社, 2007. ZHU R Z.Rendezvous and docking techniques of spacecraft[M].Beijing:National Defense Industry Press, 2007(in Chinese).