【作者】 李旭东；

【导师】 曾庆双；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2020， 硕士

【摘要】 现代科技飞速发展,航天技术作为各国都投入大量资源发展的顶尖科技领域,已经成为衡量一个国家硬实力的重要标准。目前,航天领域的任务多种多样,复杂程度不断提高,难度越来越大,对航天器的要求也越来越高。在研制航天器过程中,通常需要对其进行预先的地面仿真和实验,以确保方案设计的合理性和控制参数选取的准确性,从而降低风险,节约成本。在这种背景下,本文研究了基于五自由度气浮运动模拟器的姿态测量与控制的相关关键问题。首先分析了国内外相关领域的研究现状。在航天器地面模拟领域,国外的研究相对成熟,国内也加大了研究力度,已有多套设备投入使用。在姿态融合算法研究方面,主要分为确定性算法和状态估计算法,相比之下,状态估计算法的精度更高,应用范围更广。在航天器姿态机动方面,与传统的执行机构(如磁力矩器、喷气装置、飞轮等)相比,单框架控制力矩陀螺(SGCMG)具有输出力矩连续稳定且精度高、结构简单、响应迅速等优点,因此得到越来越广泛的应用。给出了五自由度气浮运动模拟器的结构和组成,建立了数学模型。分析了模拟器的自动配平系统和质心惯量独立调节系统的组成结构和工作方式,在此基础上,研究了当质心惯量时,配平质量块对模拟器姿态的影响,从而建立了考虑配平滑块的五自由度气浮台的动力学和运动学数学模型。研究了采用卡尔曼滤波对惯性组合和视觉传感器进行数据融合的定位算法。构建了惯性组合和相机的数学模型,以及利用卡尔曼滤波处理数据的一般方法,在此基础上,给出了利用卡尔曼滤波对惯性组合和视觉传感器进行数据融合的算法,并通过数学仿真验证了本文给出的融合算法的效果。研究了单框架控制力矩陀螺(SGCMG)用于姿态快速机动的控制方法。研究了SGCMG的工作原理,在此基础上,研究控制力矩陀螺群的操纵律,并通过仿真分析了陀螺群的奇异现象以及各操纵律的奇异规避能力。分别给出了基于PID控制、滑膜变结构控制和反演控制算法的五自由度模拟器姿态控制器设计方法,并通过仿真比较三种控制律的控制效果。针对控制力矩陀螺群的奇异问题,研究全局奇异规避操纵律。本文采用参考轨迹跟踪法进行姿态机动,设计了参考轨迹。研究了金字塔构型和五棱锥构型的奇异状态类型,并通过仿真其奇异状态下的角动量包络,对陀螺群出现奇异问题的原因进行了分析。在此基础上设计了全局奇异规避操纵律,并通过仿真验证该操纵律的奇异规避能力。更多还原

【Abstract】 With the rapid development of modern science and technology,space technology has become an important standard to measure a country’s hard strength as a top science and technology field in which countries have invested a lot of resources.At present,there are various missions in the space field,the complexity of which is constantly increasing,the difficulty is getting bigger and bigger,and the requirements for spacecraft are getting higher and higher.Spacecraft is a kind of space flight product with high risk,high investment and high benefit.In the process of development,it is usually necessary to carry out pre-ground simulation and experiments to ensure the rationality of scheme design and the accuracy of control parameter selection,thus reducing risks and saving costs.Based on a five-degree-offreedom simulator,this paper conducts ground simulation of spacecraft attitude measurement and control.Firstly,the current situation of related fields at home and abroad is analyzed.In the field of spacecraft ground simulation,research abroad is becoming more and more mature,and research efforts have been intensified in China.Several sets of equipment have been put into use.In the research of satellite attitude fusion algorithm,the existing algorithms are mainly divided into deterministic algorithm and state estimation algorithm.At present,the latter has higher accuracy and wider application range.In the aspect of spacecraft attitude maneuver,compared with traditional actuators(such as magnetic torquers,jet devices,flywheels,etc.),single-frame control torque gyroscopes(SGCMG)have the advantages of strong torque amplification,continuous and stable output torque,high accuracy,simple structure,rapid response,and so on,so they have been more and more widely used.Then,through studying the structure and composition of the five-degree-offreedom simulator,its mathematical model is established.Firstly,the structure and working mode of the automatic balancing system and the centroid inertia independent adjusting system of the simulator are analyzed.On this basis,the influence of the balancing mass on the simulator attitude when the centroid inertia adjusting system is running is studied,and thus the simulator attitude dynamics model and kinematics model considering the balancing mass are established.Then,the localization algorithm using Kalman filter to fuse the IMU and vision sensor data is studied.Firstly,the positioning algorithm of strapdown inertial navigation system and the general method of data processing using Kalman filter are analyzed.On this basis,the algorithm of data fusion between inertial navigation system and vision sensor using Kalman filter is studied and simulated to verify the effect of Kalman filter.The control method of single frame control moment gyro for fast attitude maneuver is studied.Firstly,the torque output principle of single-frame control torque gyroscopes is analyzed.Secondly,on this basis,the common control laws of gyro groups are studied,and the singular phenomena of gyro groups and the singular evading ability of each control law are analyzed through simulation.Finally,PID control,synovial membrane variable structure control and backstepping control are used to control the attitude of the five-degree-of-freedom simulator respectively,and the control effects of the three control laws are compared through simulation.Aiming at the singularity problem of gyro group,the global singularity avoidance control law with stronger singularity avoidance capability is studied.Since the reference trajectory tracking method is used for attitude maneuver,the design scheme of the reference trajectory is first studied.Then,taking pyramid configuration and pentapyramid configuration as research objects,the causes of singular problems of gyro groups are analyzed by simulating the angular momentum envelope of their singular states.Finally,a global singular evasive control law is designed on this basis,and its singular evasive ability and practical value are verified by simulation.更多还原