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摘要:
针对空间引力波探测航天器内部惯性传感器超高精度控制问题，提出一种基于干扰观测器的自适应控制方案，应用于探测航天器内部双检验质量静电悬浮控制，为探测任务提供高精度惯性基准。基于对系统附加干扰的观测与反馈，来设计干扰观测器实现对系统驱动噪声及非驱动噪声的分别估计；基于反步控制结构设计，基于神经网络的自适应反馈控制器，实现闭环噪声抑制与传感器电压驱动的非线性不确定性逼近。利用Lyapunov方法分析各闭环信号的收敛性，通过数值仿真来验证所提方案相比传统控制方案有更好地的稳定性，在探测频段内，非敏感轴各自由度闭环位移噪声水平达到${10^{ - 15}}\;{\text{m/}}{{\text{s}}^{\text{2}}}{\text{/H}}{{\text{z}}^{{\text{1/2}}}}$量级，残余加速度噪声水平达到${10^{ - 14}}\;{\text{m/}}{{\text{s}}^{\text{2}}}{\text{/H}}{{\text{z}}^{{\text{1/2}}}}$量级。相比常规状态反馈控制方案，噪声抑制性能提升约60%。
Abstract:An adaptive control approach for space inertial sensors based on disturbance observers is proposed to address the issue of ultra-high precision control of inertial sensors inside spacecraft for gravitational wave detection. It will apply to the electrostatic suspension control loop for double test masses inside the detection spacecraft, and provide high-precision inertial reference for detection tasks. The design of closed-loop control is based on the observation feedback of the additional disturbance. The observer is designed to separately estimate the actuation noise and the non-actuation noise. The adaptive feedback controller is designed based on the back-stepping control framework. This will realize the closed-loop noise suppression and the nonlinear coupling approximation of the sensor voltage actuation.Each closed-loop signal's convergence is examined using the Lyapunov approach, and numerical simulation confirms the scheme's increased stability over the conventional scheme. In the detection frequency band, the closed-loop displacement noise level of non-sensitive axis reaches 10−15 m/s2/Hz1/2, the residual acceleration noise level reaches 10−14 m/s2/Hz1/2. Compared with the conventional state feedback control scheme, the noise suppression performance is improved by about 60%.
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图 1 不同控制方案下静电悬浮控制各自由度位移噪声谱质谱密度对比
Figure 1. Displacement noise spectrum density comparison of electrostatic suspension control under various control schemes
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