›› 2014, Vol. 34 ›› Issue (1): 1-9.doi: 10.3780/j.issn.1000-758X.2014.01.001

• 研究探讨 •    下一篇

基于动态逆法的欠驱动航天器姿态机动控制

桂海潮, 徐世杰, 金磊   

  1. (北京航空航天大学宇航学院,北京 100191)
  • 收稿日期:2013-04-09 修回日期:2013-07-31 出版日期:2014-02-25 发布日期:2014-02-25
  • 作者简介:桂海潮 1986年生,2009年毕业于北京航空航天大学空间飞行器设计专业,现为北京航空航天大学空间飞行器设计专业博士研究生。研究方向为航天器姿态动力学与控制。
  • 基金资助:

    北京航空航天大学基本科研业务费-博士研究生创新基金;空间智能体与控制技术国家级重点实验室创新基金资助项目

Maneuvering Control of an Underactuated Spacecraft Based on Dynamic Inverse Method

GUI Haichao, XU Shijie, JIN Lei   

  1. School of AstronauticsBeihang UniversityBeijing 100191
  • Received:2013-04-09 Revised:2013-07-31 Online:2014-02-25 Published:2014-02-25

摘要: 针对轴对称欠驱动航天器的姿态机动控制问题,在欠驱动轴为对称轴且沿该轴的角速度为零的情况下,结合广义动态逆法和退步控制,设计了使姿态误差全局收敛的切换控制律。通过引入饱和函数和恰当的选择控制增益,消除了控制律在初始时刻和稳态阶段可能出现的奇异,同时避免了在机动初始阶段可能出现的大幅超调。经过严格的理论分析,证明在所设计的控制律作用下,姿态误差全局收敛,且控制律至多出现一次切换,不会出现颤振问题。数值仿真结果表明了该法的有效性。

关键词: 姿态控制, 动态逆法, 全局收敛, 欠驱动航天器

Abstract: The maneuvering control of an underactuated axisymmetric spacecraft with the symmetry axis as unactuated axis was investigated under the assumption that the angular velocity component along the unactuated axis was zero. The generalized dynamic inverse (GDI) method was utilized in conjunction with backstepping method to design a switched control logic yielding global convergence of the attitude error. Singularities inherent in the control law, which may arise at the beginning or during the steady phase of the control process, were wiped out by introducing a saturated function and properly choosing control gains. Simultaneously, the large transient amplitude, which may occur during the initial maneuver phase, was avoided. Strict proof shows that by this control law the attitude error globally converges to zero and there is at most one switching during the whole control process, thus eliminating the possibility of chattering. Numerical simulation results demonstrate the effectiveness of the proposed control law.

Key words: Attitude control, Dynamic inverse method, Global convergence, Underactuated spacecraft