基于控制力矩陀螺的卫星姿态机动与稳定控制

	基于控制力矩陀螺的卫星姿态机动与稳定控制
	常琳
学位类型	博士
导师	金光
	2014-07
学位授予单位	中国科学院大学
学位专业	光学工程
摘要	随着卫星航天任务模式的多样化发展，要求卫星具备姿态快速适应的能力，即卫星能够在不同的姿态间进行快速灵活的机动和稳定，为卫星任务的高精度高可靠执行提供保障。本论文针对一类以单框架控制力矩陀螺为执行机构的敏捷卫星，主要开展敏捷卫星姿态快速机动和机动后快速恢复稳定的控制方法研究。主要内容包括以下几方面：对金字塔构型SGCMG系统的力矩输出及放大特性、奇异特性和指导SGCMG系统运动的操纵律进行了分析和总结，建立了卫星系统模型的姿态动力学和运动学方程。并对包含SGCMG系统为执行机构的卫星整体进行建模，分析控制律和操纵律之间的关联及在卫星姿态控制上的作用，为后续研究奠定理论基础。针对卫星姿态快速机动的问题，在不考虑执行机构控制力矩约束和考虑执行机构控制力矩及其增量约束的两种情况下，分别基于终端滑模控制方法和非线性模型预测控制方法设计了卫星姿态机动控制律。采用滑模控制方法建立了非线性滑模面函数，以系统Lyapunov函数稳定性判据逆向求解了控制力矩的解析形式。利用预测控制方法以卫星姿态及角速度跟踪误差和控制力矩的加权组合建立优化指标，并对系统进行状态预测，最终实现优化问题求解。对两种设计方法以Matlab/Simulink模型进行了数学仿真，分析了控制参数对卫星姿态机动的影响，并对比了两种方法的优缺点。通过仿真结果表明，两种控制方法在加入扰动力矩约束和转动惯量参数误差的情况下，均能够实现卫星姿态的快速机动。针对卫星姿态机动后稳定的问题，设计了基于饱和的PD控制方法和基于趋近律的时标分离控制的卫星姿态快速稳定控制律。PD控制方法考虑系统控制力矩输出有限的条件，并考虑系统耦合特性，求解了控制力矩的具体形式。基于趋近律的时标分离控制方法利用时标分离设计思想，将系统分为快慢子回路，建立了趋近律形式的姿态误差动态特性，通过姿态动力学方程求解控制力矩。通过Lyapunov稳定性理论证明了所设计方法的闭环系统稳定性，并对设计的方法以Matlab/Simulink模型进行了分析和比较，通过仿真结果表明，两种控制方法在加入扰动力矩约束和转动惯量参数误差的情况下，均能够实现卫星姿态机动后的快速稳定。针对本文设计的机动和稳定控制方法，进行了卫星姿态机动和稳定控制的全过程物理仿真。分别考虑了Terminal滑模控制方法+考虑控制受限的PD控制方法、Terminal滑模控制方法+基于趋近律的时标分离控制方法两种控制方案，以三轴气浮转台的运动模拟卫星在轨运行状态，金字塔构型SGCMG系统为执行机构，姿态控制程序通过无线传输至气浮转台上的中心机运行，使气浮转台模拟在轨姿态调整运动，通过仿真数据结果对设计方法的功能实现情况进行分析，进一步验证了设计方法的理论准确性与实际应用性。
其他摘要	With the diversified development of the satellite mission model, satellite should have the ability of quick adaption on attitude, which means that satellite could maneuver and stabilize quickly and flexibly between different attitudes, for that would guarantee high precision high reliable execution of satellite mission. In this paper satellite with single gimbal control moment gyroscope as actuator would be concerned, and the control methods of quick maneuver and stabilization after maneuver would be studied. Main content includes the following aspects:The torque output and singular characteristic and the manipulation law guiding the movement of SGCMG system are analyzed and summarized. Then dynamics and kinematics equation of satellite system model are established. Meanwhile the satellite which contains SGCMG as actuator is modeled globally and still the connection between the control law and manipulation law and the role it played on the satellite attitude control are analyzed, which has laid a theoretical foundation for follow-up study.To solve the problem of satellite attitude rapid maneuver, under two circumstances of without considering actuator torque control and on the contrary the actuator torque control and its increment constraints are considered, two kinds of satellite attitude maneuver control laws based on the terminal sliding mode control method and the nonlinear model predictive control method are designed. The sliding mode control method is adopted to establish the nonlinear sliding mode function. System Lyapunov function stability criterion is used on reverse solving the analytical form of control moment. The optimization index is weighted combined by satellite attitude and angular velocity tracking error and control torque. Then the system state prediction is made. And the optimization problem is realized finally through the predictive control method. Mathematical simulations of two design methods are carried out with Matlab/Simulink model. The influence of control parameters on the satellite attitude maneuver are analyzed. And the comparison between advantages and disadvantages of the two methods are taken. Through the simulation, the results show that the two control methods could realize the fast maneuver of satellite attitude in the case of perturbation constraints and moment of inertia parameter error. To solve the problem of stabilization after the satellite attitude maneuver, two kinds of satellite attitude quickly stable control laws of PD control based on saturation and time-scale separation control based on reaching law are designed. PD control method has considered limited torque output conditions of the system and its coupling features and solved the concrete form of control moment. The time-scale separation control based on reaching law using the time-scale separation design thought, and on account of that, the system could be divided into fast and slow loops. Then the reaching law is established in the form of attitude error dynamic characteristics, and control torque is solved through the attitude dynamics equations. The stability of the closed-loop design method is proved by the Lyapunov stability theory, and mathematical simulations of two design methods are carried out with Matlab/Simulink model. Through the simulation, the results show that the two control methods could realize the fast stabilization after the satellite attitude maneuver in the case of perturbation constraints and moment of inertia parameter error.In view of the maneuver and stable control method designed in this paper, the physical simulation has been carried on in the whole process of satellite attitude maneuver and stabilization control. Two plans has been taken in the experiment, including the Terminal sliding mode control method plus PD control method based on saturation and the Terminal sliding mode control method plus time-scale separation control based on reaching law. With three axis turfing turntable simulating satellite on-orbit operation state, and the pyramid configuration SGCMG system as the actuator, the attitude control program was transmitted to the target machine on the turntable, which could make three axis turfing turntable simulate on-orbit attitude adjustment movement. The effects of designed methods are analyzed through the simulation results, which could have further verified the theoretical accuracy and practical applications of the designed methods.
语种	中文
文献类型	学位论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/41392
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	常琳. 基于控制力矩陀螺的卫星姿态机动与稳定控制[D]. 中国科学院大学,2014.

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