中国空间科学技术

›› 2017, Vol. 37 ›› Issue (6): 24-.doi: 10.16708/j.cnki.1000-758X.2017.0087

• 研究探讨 • 上一篇    下一篇

基于观测器的平台无陀螺姿态复合控制

 张科备, 王大轶, 汤亮, 王有懿   

  1. 1.北京控制工程研究所，北京100190
    2.北京空间飞行器总体设计部，北京100094
  • 收稿日期:2017-02-11 修回日期:2017-08-07 出版日期:2017-12-25 发布日期:2017-11-20

Gyrofree spacecraft attitude layered control based on observer

 ZHANG  Ke-Bei, WANG  Da-Yi, TANG  Liang, WANG  You-Yi   

  1. 1.Beijing Institute of Control Engineering，Beijing 100190，China
    2.Beijing Institute of Spacecraft System Engineering，Beijing 100094，China
  • Received:2017-02-11 Revised:2017-08-07 Published:2017-12-25 Online:2017-11-20

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摘要： 针对超静卫星星体平台无陀螺、载荷敏感器与星体平台执行机构非共基准安装时整星存在姿态异位控制问题，提出了一种基于观测器估计星体平台姿态的复合控制方法。首先，建立星体平台/Stewart平台/载荷的动力学模型，并获得Stewart平台作动器关节空间的等效动力学模型。针对关节空间等效模型，设计supertwisting观测器，以作动器平动位移为输入，以载荷和星体平台之间的相对姿态和角速度为输出，实现星体平台姿态和角速度估计。其次，以载荷测量姿态信息为输入，设计Stewart作动器的积分滑模控制律，实现载荷高精度指向控制。以观测器估计的星体平台姿态信息为输入，设计星体平台控制器实现星体平台的稳定控制。Lyapunov稳定性分析表明所设计的观测器和控制器能够保证闭环系统渐近稳定。数学仿真结果表明：在星体平台有陀螺时，载荷能够实现0.1″指向精度；在星体平台无陀螺时，采用观测器估计星体平台姿态并进行控制，载荷亦可实现0.1″指向精度。

关键词: 超静卫星, 观测器, 姿态复合控制, 异位姿态控制, 指向控制

Abstract: An attitude layered control strategy based on supertwisting observer was presented to address the noncollocated attitude control problem caused by spacecraft payload sensors and base actuators. The dynamics model of spacecraft/Stewart/payload and the equivalent dynamics model in Stewart joint space were built. The supertwisting observer was employed to estimate the spacecraft platform angular velocity. The observer inputs and output are the Stewart strut lengths and relative angular velocity，respectively. The smooth integral sliding mode control law was designed to realize a high precision payload pointing control. The payload attitude information was used by the smooth sliding mode control law. The spacecraft platform controller was designed to achieve a steady spacecraft platform attitude control. The Lyapunov stability analysis shows that the designed controller and observer can guarantee the convergence of the closedloop system. Numerical simulation results illustrate that while gyrosfree in platform，the payload attitude pointing accuracy is up to 0.1″，which is equal to that acquired by platform gyros attitude control.

Key words: ultraquiet spacecraft, observer, attitude layered control, noncolocated attitude control, pointing control