【作者】 李若兰； 屈卫东；

【Author】 Li Ruo Lan;Qu Wei Dong;Shanghai Jiao Tong University,School of Electronic Information and Electrical Engineering;

【机构】 上海交通大学电子信息与电气工程学院；

【摘要】 针对挠性航天器姿态跟踪控制问题,设计了一种双环准滑模变结构控制律,外环控制器实现对姿态角的跟踪,并产生姿态角速度指令作为虚拟控制项传递给内环系统,内环通过准滑模变结构控制器对姿态角速度进一步精确跟踪。考虑滑模运动在边界层外易受不确定性因素影响,对内外环控制均引入积分滑模函数以改善滑模运动的趋近段,从而保证控制系统的鲁棒性能。同时,引入具有继电特性的连续函数作为内环滑模控制的切换项,一定程度上减少了航天器系统由于时间及空间的滞后所带来的抖振,并使用Lyapunov理论分析了系统的稳定性。最后对提出的控制算法进行数值仿真,验证了该控制方法的有效性。更多还原

【Abstract】 A dual loop quasi sliding model control law is designed for spacecraft attitude tracking control,the outer loop can track the attitude angle and generate the attitude angular velocity command as a virtual control item to the inner loop system,in the inner loop,the quasi-sliding mode law is used to further accurately track the attitude angular velocity.Considering that sliding mode motion is easily affected by uncertain factors outside the boundary layer,in order to ensure the robust performance of the control system,the integral sliding mode function is introduced into both the inner and outer loop control to improve the approach phase of sliding mode motion.A continuous function with relay characteristics is introduced as the switching term of the inner loop sliding mode control Simultaneously,the buffeting of the spacecraft system due to time and space lag has been reduced to a certain extent,Lyapunov theory is used to analyze the stability of the system.Finally,numerical simulation of the proposed control algorithm verifies the effectiveness of the control method.更多还原