摘要
研究了大气层外飞行器姿态控制器设计。基于误差四元数建立飞行器姿态运动学与动力学方程,用滑模变结构控制方法设计控制器,通过构造Lyapunov函数验证了控制器具全局稳定性和鲁棒性。以控制器参数为优化变量,机动时间为优化指标,飞行器发动机输出力矩为约束条件,用粒子群算法实现对滑模控制器参数的优化设计。仿真结果表明:控制器设计可行且有效,并能对参数进行优化。
The design of the attitude controller for vehicle outside the atmosphere was studied in this paper.The kinematical and dynamical equations of KV were presented based on the error quaternion.Sliding mode control method was applied to design the controller.It was proved that the proposed control law was globally stabilizing and insensitive by using the Lyapunov functions.Particle swarm algorithm was applied to realize the controller＇s parameters optimization by choosing the maneuver time as the optimization objective function with the output moment of the vehicle＇s thruster as the constrain condition.The simulation results showed that the feasibility and effectiveness of the proposed strategy and parameters optimization.
出处
《上海航天》
2010年第6期26-31,共6页
Aerospace Shanghai
关键词
飞行器
姿态控制
滑模变结构控制
粒子群算法
Vehicle
Attitude control
Sliding mode control
Particle swarm algorithm
