【作者】 张维佳；

【导师】 杨亚非；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2009， 硕士

【摘要】 本论文以一类中心刚体带两块对称挠性附件的航天器为研究对象,研究了挠性航天器的姿态控制问题。为了提高挠性系统稳定性和跟踪性能,同时抑制未建模动态和模型参数摄动带来的谐振,提出了基于干扰观测器的正实性控制方法,并针对某型挠性航天器系统模型设计了正实性控制器,通过仿真验证了方法的有效性。具体内容如下:首先,简要概述了航天器的姿态控制技术和正实性理论,并介绍了其发展现状。其次,推导了挠性航天器的动力学基本方程、转动方程、振动方程,得到了挠性航天器姿态控制系统模型,并给出了被控对象的频域描述。然后,针对中心刚体带两块对称挠性附件的航天器的姿态控制问题,提出了基于干扰观测器的正实性控制方法,给出了挠性系统标称部分的状态空间描述,并给出了控制器参数的选取原则和求解正实性控制器的具体步骤。最后,将所设计的正实性控制器应用于某型挠性航天器姿态控制系统中,验证了本文所研究方法对未建模动态和模型参数摄动带来的谐振有抑制作用,并可以提高系统稳定性和跟踪性能。更多还原

【Abstract】 This paper deals with a kind of spacecraft consisting of a rapid platform and two identical flexible appendages,with attitude control of the flexible spacecraft being investigated.In order to improve the stability and servo performance,and restrain the high frequency vibration brought by unmodeled dynamics and parameter uncertainties,the positive real control method is proposed and the positive real controller is obtained based on state feedback observer,then the result of simulation and analyse validates the method proposed.Firstly,the purpose and significance of this dissertation is expound,the developing process and current situation of the attitude control of the flexible spacecraft are introduced and the development history and research status of positive real theoretics are summarized.Secondly,the mechanism model of flexible spacecraft tructure is derived and the mathematics description is given. The main unmodeled modals and parameter uncertainties which bring high frequency vibration are analyzed and described.Thirdly, the positive real controller design method is put forward on the background of the flexible spacecraft control system.The positive real of the main object is constructed based on embedding method and eigenvalue placement. Then, the procedure for positive real controller design is introduced based on state feedback observer, and the method of parameterzing matrix selection is given.Finally, the positive real controller design based on state feedback observer is simulate to the flexible spacecraft system. The certain controllers are realized,and the simulation results prove the effectiveness of positive real methods which improve the stability and servo performance,and restrain the high frequency vibration brought by unmodeled dynamics and parameter uncertainties.更多还原