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摘要:
针对含有模型不确定性的章动非合作目标接触消旋问题，提出一种基于特征模型的双通道自适应控制方法。利用接触碰撞时的几何关系和线弹性接触力模型建立消旋系统动力学模型；分析目标自由运动特性，设计分离式消旋策略；构建描述章动目标消旋系统三轴角速度特性的特征模型，计算特征参数表达式；设计基于特征模型的双通道自适应控制器。仿真实验结果表明：所提方法通过在线估计特征参数，有效克服了消旋系统不确定性因素的影响，消旋后剩余角速度小且消旋速度快。
Abstract:To solve the contact detumbling problem of nutation non-cooperative targets with model uncertainty, a dual-channel adaptive control method based on characteristic model is proposed. The dynamic model of the detumbling system is established considering the geometric relationship during the contact collision and using the linear elastic contact force model. Through the analysis of the characteristics of the target during free motion, a separation detumbling strategy is designed. Furthermore, the characteristic model of the angular velocity is constructed to describe the nutation target detumbling system with the characteristic parameter expressions given. A dual-channel adaptive controller is designed using the characteristic model. The simulation results show that the method effectively overcomes the model uncertainty through online estimation of characteristic parameters, and that the detumbling is fast with small residual angular velocity.
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图 10 考虑接触模型不确定性时的角速度幅值
Figure 10. Angular velocity amplitude considering contact model uncertainty
图 11 考虑接触模型不确定性时的角速度分量
Figure 11. Angular velocity component considering contact model uncertainty
图 12 考虑误差影响时的角速度幅值
Figure 12. Angular velocity amplitude considering influence of error
图 13 考虑误差影响时的角速度分量
Figure 13. Angular velocity component considering influence of error
表 1 消旋系统仿真参数
Table 1. Simulation parameters of detumbling system
参数 数值 目标本体体积$ /{{\text{m}}^3} $ $ 2.2 \times 1.8 \times 1.9 $ 目标帆板体积$ /{{\text{m}}^3} $ $ 2 \times 8.5 \times 0.03 $ 减速刷长度$ {l_0}/{\text{m}} $ 0.9 抗弯刚度$E_\text{I}/(\text{N}\cdot {\text{m} }^{-1})$ 10 摩擦系数$ \mu $ 0.2 
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表 2 接触模型参数
Table 2. Parameters of contact model
工况 抗弯刚度$E_{\text{I}}/(\text{N}\cdot {\text{m} }^{-1})$ 减速刷长度$ {l_0}/{\text{m}} $ 力矩系数$ {\lambda _{\text{T}}} $ 1 5 0.9 1 2 10 1.6 1 3 10 0.9 0.857 5 4 10 0.9 1.195 7
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表 3 随机误差$(3\sigma )$
Table 3. Random error $(3\sigma )$
工况 执行误差$ {\alpha _{\text{T}}}/{(^ \circ }) $ 姿态测量误差$ {\beta _{\text{A}}}/{(^ \circ }) $ 角速度测量误差${\delta _\omega }/{((^ \circ) } \cdot { {\text{s} }^{ - 1} })$ 消旋时机偏差${\delta _{t_n} }/{\text{s} }$ 5 1.25 2 1.25 2 6 2.5 4 2.5 4 7 3.75 6 3.75 6 8 5 8 5 8
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