组合航天器的姿态控制与结构鲁棒控制分配
Attitude control and structure robust control allocation for combined spacecraft
摘要点击 71  全文点击 61  投稿时间:2017-10-26  修订日期:2018-04-23
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DOI编号  10.7641/CTA.2018.70777
  2018,35(10):1447-1457
中文关键词  鲁棒控制分配  组合航天器  姿态控制  直接参数化方法  参数辨识
英文关键词  robust control allocation  combined spacecraft  attitude control  direct parametric approach  parameter identification
基金项目  国家重点实验室,国家自然科学基金重点项目
学科分类代码  
作者单位E-mail
黄秀韦 哈尔滨工业大学 huangxiuwei_hit@163.com 
段广仁 哈尔滨工业大学 g.r.duan@hit.edu.cn 
中文摘要
      针对空间臂捕获未知目标航天器后的控制问题, 本文提出了一种新方案. 基于动量的估计方法和递推最小二乘 算法在线估计组合式航天器的惯性参数, 并通过一种基于比例微分反馈的直接参数方法处理组合姿态控制系统, 此方法 给出了完整的参数化双反馈增益. 考虑到推力器的配置和配置矩阵的测量误差, 提出了具有多面体和多胞体形式摄动的 鲁棒控制分配方法. 最后, 数值仿真结果验证了所提方法的有效性.
英文摘要
      This paper presents a new control scheme for the problem of a space manipulator after capturing an unknown target. Since the inertia parameters of the combined spacecraft have been identified online depending on momentum-based estimation method and recursive least squares algorithm, a direct parametric approach via proportional plus derivative feedback is proposed for the combined attitude control system, which gives a complete parametrization of the pair of feedback gains. Considering the thruster’s configuration and the measurement error of the configuration matrix, robust control allocations with perturbation both in regular polyhedral and polytopic form are developed. Finally, numerical simulations demonstrate the effectiveness of the proposed approach.