引用本文:吴忠,黄丽雅,魏孔明,郭雷.航天器姿态自抗扰控制[J].控制理论与应用,2013,30(12):1617~1622.[点击复制]
Wu Zhong,Huang Li-ya,Wei Kong-ming,Guo Lei.Active disturbance rejection control of attitude for spacecraft[J].Control Theory and Technology,2013,30(12):1617~1622.[点击复制]
航天器姿态自抗扰控制
Active disturbance rejection control of attitude for spacecraft
摘要点击 3450  全文点击 3375  投稿时间：2013-09-30  修订日期：2013-11-07
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DOI编号  10.7641/CTA.2013.31034
  2013,30(12):1617-1622
中文关键词  航天器, 姿态控制, 自抗扰控制器, 姿态敏感器, 速率陀螺
英文关键词  spacecraft, attitude control, active disturbance rejection controller, attitude sensors, rate gyros
基金项目  国家重点基础研究发展计划,国家自然科学基金
作者单位E-mail
吴忠* 北京航空航天大学 wuzhong@buaa.edu.cn 
黄丽雅 北京航空航天大学  
魏孔明 北京航空航天大学  
郭雷 北京航空航天大学  
中文摘要
      为抑制航天器自身结构参数变化和内外扰动对姿态控制精度和姿态稳定度的影响, 设计了航天器姿态自抗扰控制器. 自抗扰控制器(ADRC)由跟踪微分器(TD)、扩张状态观测器(ESO)和姿态反馈控制器(AFC)3部分组成.跟踪微分器负责安排姿态指令过渡过程, 并提取其微分信号. 扩张状态观测器(ESO)充分利用姿态敏感器与速率陀螺的量测信息, 可对航天器姿态及内部和外部干扰进行观测. 姿态反馈控制器则在补偿ESO估计的干扰的同时,实现航天器的姿态控制. 与已有研究相比, 扩张状态观测器采用复合量测信息对状态估计进行校正, 性能较好. 而自抗扰控制器只采用一个环路即可实现姿态控制及干扰补偿, 结构简单. 对某航天器姿态控制系统的仿真结果表明,以上自抗扰控制器是可行的.
英文摘要
      In order to attenuate the effects of the parameter variations and disturbances of the spacecrafts on attitude control accuracy and stability, an active disturbance rejection controller (ADRC) is designed. ADRC consists of three parts: tracking differentiator (TD), extended state observer (ESO) and attitude feedback controller (AFC). TD smoothes the process of attitude maneuver and provides differential signal of the attitude; ESO estimates the attitude and the disturbances acting on the spacecraft by taking full advantage of the information of the gyros and the attitude sensors; AFC realizes the attitude control of the spacecraft by compensating the disturbances from the ESO. Compared with the relative results, ESO has better performance by adopting the composite measurement information to correct the estimate, and ADRC has simpler structure by adopting only one loop to realize attitude control and disturbance compensation. Simulation results of a certain spacecraft demonstrate that the ADRC of this paper is feasible.