摘要
为满足新颖成像模式对卫星姿态快速机动或对规划姿态的高精度跟踪控制需求,本文针对金字塔构型控制力矩陀螺(Control moment gyroscopes,CMG)群与反作用飞轮为联合执行机构的挠性敏捷卫星,提出一种融合以Legendre伪谱法实现卫星姿态及CMG群框架角速度最优规划的前馈控制、以非线性模型预测控制(Nonlinear model predictive control,NMPC)实现最优轨迹反馈跟踪的复合控制方法.在前馈控制律设计中,充分考虑了CMG群的力矩输出能力、奇异性及振动抑制性能等约束,规划获得了最优的CMG群框架角速度、卫星的姿态角及角速度.在反馈控制律设计中,以飞轮输出力矩能力、姿态机动快速性及能量为约束,设计了具有滚动优化思想的跟踪算法,补偿由于初始状态及转动惯量偏差等带来的控制误差.研究结果表明,在转动惯量存在偏差情况下,本文的控制方法仍是有效的,且表现出较强的鲁棒性.
To satisfy the needs of novel imaging modes for attitude rapid maneuver and high precision tracking control, a control strategy combining feedforward and feedback control is proposed for flexible satellite with hybrid actuator （pyramid configuration control moment gyroscopes （CMG） and reaction flywheel）. In the design of feedforward control, to fully consider the constraints, such as torque output capacity of CMG group, singularity and vibration suppression performance, a Legendre pseudospectral method which could plan the optimal satellite attitude and frame angle rate of CMG group is presented. In the design of feedback control, with the torque capacity of flywheel, attitude rapid maneuver and energy constraints being the cost function, a tracking control algorithm based on nonlinear model predictive control （NMPC） is given to compensate the error of initial state and rotational inertia. The results show that, in the case of inertia error, the proposed control method is effective and shows a strong robustness.
作者
范国伟
常琳
杨秀彬
王旻
王绍举
FAN Guo-Wei CHANG Lin YANG Xiu-Bin WANG Min WANG Shao-Ju(Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033 National and Local United Engineering Research Center of Small Satellite Tech- nology, Changchun 130033)
出处
《自动化学报》
EI
CSCD
北大核心
2017年第10期1858-1868,共11页
Acta Automatica Sinica
基金
国家自然青年科学基金项目(61503360)资助~~
关键词
敏捷卫星
快速机动
联合执行机构
轨迹规划
滚动优化跟踪
Agile satellite, rapid maneuver, hybrid actuator, trajectory optimization, moving horizon tracking
