【摘要】 本文提出了一种基于显式参考管理与模态观测器的挠性航天器姿态机动控制方法.首先,采用改进的罗德里格斯参数建立了航天器的运动学和动力学模型,分析了存在的控制约束和角速度约束.在此基础上,设计了基于显式参考管理的约束挠性航天器姿态重定向控制算法.由于挠性模态不能直接测量,内层设计了模态观测器,并将观测器观测得到的模态坐标作为内层无约束控制器的输入.随后,外层导航模块根据所需满足的约束条件设计了相应的动态路径,该路径可以根据当前状态以合适的速率收敛到最终状态,通过跟踪该路径,航天器姿态就可以在满足约束的情况下快速到达期望位置.通过构造合适的李雅普诺夫函数,严格证明了该挠性航天器显式参考管理姿态控制算法的稳定性.最后,仿真结果进一步验证所设计算法的约束处理效果与振动抑制能力.更多还原

【Abstract】 This paper addresses the explicit reference governor and modal observer based attitude reorientation problem. First, the kinematics and dynamics of the spacecraft are established by using the modified Rodrigues parameters,and the control constraints and angular velocity constraints are analyzed. Then, a constrained flexible spacecraft attitude reorientation control algorithm based on explicit reference governor is proposed. Since the modal displacement cannot be directly measured and the modal observer is designed in the inner layer, the modal displacements observed are used as input to the inner unconstrained controller. The navigation layer is utilized to manipulate the reference state to enforcing constraints satisfaction. By constructing the Lyapunov function, the closed-loop stability of the explicit reference governor based flexible spacecraft attitude control algorithm is strictly proved. Finally, the simulation results further verify the constraint processing effect and vibration suppression ability of the proposed attitude control algorithm.更多还原