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针对挠性航天器姿态机动控制中存在的参数不确定性、外部干扰、挠性附件振动及挠性模态不易直接测量的问题,提出一种具有干扰抑制的自适应输出反馈机动控制器设计方法。设计中无需忽略挠性附件和中心刚体的耦合,利用挠性附件固有物理特性构造一种结构简单的开环模态观测器,然后用以此获得的模态估计信息及可测量的姿态四元数和角速度信息,基于自适应反步设计方法进行反馈控制器设计,实现了无需增加压电作动器即可增强挠性模态阻尼性,保证了闭环系统在参数不确定存在和外部干扰作用下的姿态稳定鲁棒性和挠性模态振动抑制性,同时对外部干扰力矩具有L2增益抑制性能。理论证明和仿真研究结果均表明了所设计控制器的有效性和可行性。
Aiming at the problem that the parameter uncertainties, external disturbances, the vibration of flexible attachments and the flexible modes are not easy to measure directly in the attitude maneuver control of flexible spacecraft, a design method of adaptive output feedback maneuvering controller with disturbance rejection . The design does not need to neglect the coupling between the flexible attachment and the rigid body and constructs a simple open-loop modal observer using the inherent physical properties of the flexible attachment. Then, the obtained modal estimation information and measurable attitude quaternion Digital and angular velocity information, the design of feedback controller based on adaptive backstepping design method can enhance the damping of flexible modal without adding piezoelectric actuators and ensure the closed-loop system has the function of parameter uncertainty and external interference Robust attitude stability and flexible mode vibration suppression, while the external disturbance torque L2 gain suppression performance. Both theoretical proofs and simulation results show the effectiveness and feasibility of the proposed controller.