Dynamic modeling and control analysis of pitch/roll channels for balloon-gondola system
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摘要:
作为成熟的临近空间飞行器平台，高空科学气球在天文观测上有特殊优势。忽视滚转效应的常规球舱吊舱平台姿态方位单轴控制已不再完全适用空间科学新应用场景，需深入研究球舱俯仰/横滚通道运动和控制特性，提高姿态控制系统整体性能。基于此，使用拉格朗日方程建模法对球舱俯仰/横滚通道动力学特征进行建模，并给出精确模态计算方法。对动力学模型线性化处理，并进行可控性和可观测性分析，给出力矩阻尼方式和主动补偿方式控制策略，并针对力矩阻尼控制策略设计了基于线性二次型调节器(LQR)的控制器和Kalman观测器，进行Simulink仿真验证。所提球舱俯仰/横滚通道动力学建模和模态计算方法进一步揭示了球舱系统运动特性，所提控制策略及仿真验证为高空科学气球吊舱姿态控制系统的设计及优化提供了重要参考。
Abstract:As a mature near-space aerial platform, high-altitude scientific balloons exhibit unique advantages in astronomical observations. However, the conventional single-axis attitude pointing control method for balloon-borne gondola platforms, which ignores the roll effect, can no longer fully meet the requirements of emerging space science application scenarios. Therefore, in-depth research on the motion and control characteristics of the pitch/roll channels of the balloon-gondola system is required to improve the overall performance of the attitude control system. Accordingly, the dynamic characteristics of the pitch/roll channels of the balloon-gondola system are modeled using the Lagrangian equation method, and an accurate modal calculation approach is proposed. After linearizing the established dynamic model, its controllability and observability are analyzed, and two control strategies, namely torque damping and active compensation, are put forward. For the torque damping control strategy, a linear quadratic regulator (LQR)-based controller and a Kalman observer are designed, and verification is carried out via Simulink simulation. The proposed dynamic modeling and modal calculation methods for the pitch/roll channels of the balloon-gondola system further reveal the motion characteristics of the coupled system. The proposed control strategies and corresponding simulation results provide an important reference for the design and optimization of attitude control systems for high-altitude scientific balloon gondolas.
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图 2 球舱系统俯仰/横滚通道近似分析
Figure 2. Approximate analysis of pitch/roll channels of balloon-gondola system
图 4 控制力矩陀螺和反作用飞轮示意图
Figure 4. Schematic diagram of a control torque gyroscope and reaction flywheel
图 5 内俯仰外方位结构和内方位外俯仰结构
Figure 5. Inner pitch and outer orientation structure and inner orientation and outer pitch structure
图 11 初始状态1下通道初始状态响应频谱分析
Figure 11. Spectral analysis of initial state response of channel in initial state 1
图 13 初始状态1下通道LQR控制响应频谱分析
Figure 13. Spectral analysis of the LQR control response of channel in initial state 1
图 15 初始状态2下通道初始状态响应频谱分析
Figure 15. Spectral analysis of initial state response of channel in initial state 2
图 17 初始状态2下通道LQR控制响应频谱分析
Figure 17. Spectral analysis of the LQR control response of channel in initial state 2
表 1 Simulink仿真参数
Table 1. Simulink simulation parameters
气球
质量/kg气球俯仰/横滚轴
惯量/（kg·m2）气球附加
质量系数气球附加
惯量系数吊舱
质量/kg吊舱过质心俯仰/
横滚轴惯量/（kg·m2）气球底部与气球
质心距离/m结缆
长度/m吊舱质心与反捻器
距离/m2000 2.6×106 0.45 0.22 1400 3000 49 58 3.96 
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表 2 状态反馈控制器参数
Table 2. State feedback control device parameters
Kc1 Kc2 Kc3 Kc4 Kc5 Kc6 73045.6105 79609.8903 − 29801.6052 42.6470 − 288.3953 − 779.4096
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表 3 Kalman观测器参数
Table 3. Kalman observer parameters
Kf1 Kf2 Kf3 Kf4 Kf5 Kf6 [ 12.84256 ，0.1111 ][− 9.8205 ，0.5783 ][− 0.4426 ，−0.3141 ][ 0.1111 ，1.0999 ][ 0.6232 ，1.0294 ][ 1.4206 ，0.8625 ]
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