CN109507892A - The adaptive sliding mode pose stabilization control method of flexible spacecraft - Google Patents

The adaptive sliding mode pose stabilization control method of flexible spacecraft Download PDF

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Publication number
CN109507892A
CN109507892A CN201910057842.3A CN201910057842A CN109507892A CN 109507892 A CN109507892 A CN 109507892A CN 201910057842 A CN201910057842 A CN 201910057842A CN 109507892 A CN109507892 A CN 109507892A
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China
Prior art keywords
sliding mode
flexible
stabilization control
adaptive sliding
spacecraft
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吴爱国
董瑞琦
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Shenzhen Graduate School Harbin Institute of Technology
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Shenzhen Graduate School Harbin Institute of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Evolutionary Computation (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention provides a kind of adaptive sliding mode pose stabilization control methods of flexible spacecraft, found kinematical equation and kinetics equation of the flexible spacecraft based on quaternary number, spacecraft has flexible appendage, and rotary inertia contains perturbing term.The beneficial effects of the present invention are: providing a kind of adaptive sliding mode pose stabilization control method of flexible spacecraft, Space Vehicle System can be made with good stability using the adaptive sliding mode pose stabilization control method, when Space Vehicle System inertia parameter varies widely, the posture of spacecraft can tend towards stability quickly；Space Vehicle System can be made to possess the ability for preferably flexible mode being inhibited to vibrate using the adaptive sliding mode pose stabilization control method, the vibration of flexible appendage can effectively be inhibited.

Description

The adaptive sliding mode pose stabilization control method of flexible spacecraft
Technical field
The present invention relates to spacecraft more particularly to a kind of adaptive sliding mode pose stabilization control methods of flexible spacecraft.
Background technique
In traditional gesture stability algorithm, do not consider that the rotary inertia of flexible spacecraft has perturbation, and traditional cunning Mould control algolithm can cause biggish buffeting.
Summary of the invention
In order to solve the problems in the prior art, the present invention provides a kind of adaptive sliding mode posture of flexible spacecraft is steady Locking control method.
The present invention provides a kind of adaptive sliding mode pose stabilization control methods of flexible spacecraft, initially set up flexible boat System model of its device based on quaternary number is as follows:
Wherein, ω is the attitude angular velocity of flexible spacecraft,q0,qvRespectively posture four The scalar component and vector portion of first number；
δ is the coupling matrix between the flex section and rigid body main body of flexible spacecraft；C, K be respectively damping matrix and Stiffness matrix,
ωni, i=1,2 ..., N are natural frequency, ζi, i=1 ..., N is damped coefficient；JmbIt is used for the rotation of rigid body portion Amount, and have Jmb=J- δTδ, wherein J=J0+ △ J, J0It is rotary inertia nominal value, △ J is rotary inertia uncertainty coefficient, is scratched Property spacecraft have flexible appendage, and rotary inertia contains perturbing term；Design following sliding formwork switching function:
S=w+Gqv
Wherein, the symmetric positive definite matrix that G is 3 × 3；
It designs following adaptive law and estimates probabilistic upper bound:
Wherein,Respectively c0, c1Estimated value, and have
Wherein, l0,l1It is positive number；
The adaptive sliding mode pose stabilization control rule of design point feedback is as follows:
Wherein, W, D, G are positive definite diagonal matrix,
l0,l1For positive number.
As a further improvement of the present invention, the adaptive sliding mode pose stabilization control of state feedback is restrained into the switching for including Function F (s) is substituted for following F1 (s):
F1(s)={ f (s1),f(s2),f(s3)}T
Finally obtain following adaptive sliding mode pose stabilization control rule:
Wherein, W, D, G are positive definite diagonal matrix, l0,l1For positive number, f (si), i=1,2,3 is defined as follows:
The beneficial effects of the present invention are: through the above scheme, providing a kind of adaptive sliding mode posture of flexible spacecraft Stable control method can make Space Vehicle System have good stabilization using the adaptive sliding mode pose stabilization control method Property, when Space Vehicle System inertia parameter varies widely, the posture of spacecraft can tend towards stability quickly；It is adaptive using this Sliding Mode Attitude stable control method can make Space Vehicle System possess the ability for preferably inhibiting flexible mode vibration, flexible appendage Vibration can effectively be inhibited.
Detailed description of the invention
Fig. 1 is in a kind of MATLAB of the adaptive sliding mode pose stabilization control method of flexible spacecraft of the present invention Simulink module verification figure.
Specific embodiment
The invention will be further described for explanation and specific embodiment with reference to the accompanying drawing.
A kind of adaptive sliding mode pose stabilization control method of flexible spacecraft, comprising:
1, the adaptive sliding-mode observer based on state feedback is devised for the measurable situation of flexible mode to restrain
Wherein, W, D, G are positive definite diagonal matrix, l0,l1For positive number.
Step 1 designs sliding-mode surface
Choose following sliding formwork switching surface function:
S=w+Gqv
And, it was demonstrated that above-mentioned hyperplane can guarantee sliding formwork motion stabilization, the i.e. entire motion process of system, can have Stablize in the time of limit.
Prove: the Lyapunov function of selection is as follows:
Step2 design control law
Design the control with following form:
U=ueq+uh+un (1)
Wherein, ueqFor the equivalent control of nominal system, udFor the uncertainty of processing system；uhFor guaranteeing that sliding formwork is cut Exchange the letters number can converge to sliding-mode surface.The sliding formwork control ratio can enable the state of system from arbitrary initial point, when limited In, it moves on sliding-mode surface s=0, i.e. s=w+Gqv, and be able to maintain on sliding manifolds.
Equivalent control u is designed beloweq, enableIt can obtain:
The nominal portion of system model can be obtained according to the second of system model equation are as follows:
Bringing equation (3) into equation (2) can be obtained following Equivalent control law:
In order to construct control law ud, it is provided first as given a definition:
Wherein, Ψ and △ J, ω, q are related.Because | | △ J | | bounded, it is full that there are a Positive Function ρ (t, ω, q) Foot such as lower inequality:
||Ψ||≤ρ(t,ω,q)
Wherein, ρ (t, ω, q) is only and t, ω, q are related.
Firstly, providing following hypothesis:
Assuming that: there are normal number c0,c1So that as lower inequality is set up:
ρ(t,ω,q)≤c0+c1||(ωT,qT)T||.
Based on above-mentioned it is assumed that design udIt is as follows
Wherein,Respectively c0, c1Estimated value, and have
Wherein, l0,l1It is positive number.
Finally, design uhIt is as follows:
uh=-Ws-DF (s),
Wherein, W, D, G are positive definite diagonal matrix, also,
F (s)=[f (s1)f(s2)f(s3)]T,
We will illustrate the control effect of the adaptive sliding-mode observer rule based on state feedback by example below.
Consider the nominal value J of the rotary inertia with flexible appendage spacecraft0Are as follows:
Rotary inertia uncertainty coefficient △ J are as follows:
Rigid-flexible coupling matrix between flexible spacecraft and flexible appendage:
The vibration frequency of flexible appendage are as follows:
ωn=[0.7681,1.1038,1.8733,2.5496]
The vibration damping of flexible appendage are as follows:
ξ=[0.005607,0.00862,0.01283,0.02516]
Sliding mode controller parameter based on state feedback are as follows:
G=diag { 0.2 0.2 0.2 }；W=diag { 200 200 200 }；D=diag { 200 200 200 }
The parameter of sliding mode controller based on observer are as follows:
A kind of adaptive sliding mode pose stabilization control algorithm of flexible spacecraft provided by the invention, is deposited for rotary inertia In the Flexible Spacecraft stable control of perturbation, a kind of adaptive sliding mode pose stabilization control algorithm is devised.The hair The purpose of bright algorithm is to solve there are the probabilistic Flexible Spacecraft stability contorting of rotary inertia, inhibits flexible appendage There are problems that buffeting vibration.The invention indicates the kinematical equation of Flexible Spacecraft using Quaternion Method, in foundation There is the Complex Spacecraft kinetics equation of perturbation with flexible appendage, rotary inertia in heart rigid body, give simplified based on mixed Close the Flexible Spacecraft kinetics equation of coordinate.Then Lyapunov direct method is utilized, Sliding Mode Attitude is had devised and stablizes Controller, and problem is buffeted for present in sliding formwork control, it is improved and optimizated, by switch letter original in sliding formwork control It is several, it is substituted with " the positive traditional method of indicating the pronunciation of a Chinese character " function, the flutter in inhibition system.Finally, being tested with the simulink module in MATLAB The validity of the control algolithm of design is demonstrate,proved, as shown in Figure 1.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention Protection scope.

Claims (2)

1. a kind of adaptive sliding mode pose stabilization control method of flexible spacecraft, it is characterised in that: initially set up flexible space flight System model of the device based on quaternary number is as follows:
Wherein, q0,qvThe respectively scalar component and vector portion of attitude quaternion, ω are the attitude angular velocity of flexible spacecraft,
δ is the coupling matrix between the flex section and rigid body main body of flexible spacecraft；C, K are respectively damping matrix and rigidity square Battle array,
ωni, i=1,2 ..., N are natural frequency, ζi, i=1 ..., N is damped coefficient；JmbFor the rotary inertia of rigid body portion, And there is Jmb=J- δTδ, wherein J=J0+ △ J, J0It is rotary inertia nominal value, △ J is rotary inertia uncertainty coefficient, flexible Spacecraft has flexible appendage, and rotary inertia contains perturbing term；Design following sliding formwork switching function:
S=w+Gqv
Wherein, the symmetric positive definite matrix that G is 3 × 3；
It designs following adaptive law and estimates probabilistic upper bound:
Wherein, Respectively c0,c1Estimate Evaluation, and have
Wherein, l0,l1It is positive number；
The adaptive sliding mode pose stabilization control rule of design point feedback is as follows:
Wherein, W, D, G are positive definite diagonal matrix,
l0,l1For positive number.
2. the adaptive sliding mode pose stabilization control method of flexible spacecraft according to claim 1, it is characterised in that: will The switching function F (s) that the adaptive sliding mode pose stabilization control rule of state feedback includes is substituted for following F1(s):
F1(s)={ f (s1),f(s2),f(s3)}T
Finally obtain following adaptive sliding mode pose stabilization control rule:
Wherein, W, D, G are positive definite diagonal matrix, l0,l1For positive number, f (si), i=1,2,3 is defined as follows:
CN201910057842.3A 2019-01-22 2019-01-22 The adaptive sliding mode pose stabilization control method of flexible spacecraft Pending CN109507892A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
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CN111498147A (en) * 2020-04-03 2020-08-07 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Finite time segmentation sliding mode attitude tracking control algorithm of flexible spacecraft

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111498147A (en) * 2020-04-03 2020-08-07 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Finite time segmentation sliding mode attitude tracking control algorithm of flexible spacecraft
CN111498147B (en) * 2020-04-03 2021-09-21 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Finite time segmentation sliding mode attitude tracking control algorithm of flexible spacecraft

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Application publication date: 20190322