【作者】 石宏睿；

【导师】 姚郁；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2010， 硕士

【摘要】 空间站代表着当今世界航天技术最复杂、最先进、整合程度最高的水平,具有重要的、其他航天器不可替代的作用。空间站的动量管理是监测CMG角动量状态,并保证CMG不发生饱和的过程,动量管理对节省空间站上的能量消耗有着重要的作用,空间站采用力矩平衡姿态是实现动量管理的一种重要方法。空间站的姿态控制系统是空间站的一个基本组成部分,对于空间站来说,保持空间站姿态的稳定性和指向是十分重要的。本文以空间站的力矩平衡姿态与姿态控制为主要研究内容,完成了以下几个方面的工作:首先,建立了空间站的姿态动力学模型。研究了空间站的刚性姿态动力学模型,采用集中质量法建立了挠性附件的振动方程,并将挠性振动方程引入到空间站的姿态动力学方程中,建立了空间站的挠性姿态动力学模型。其次,研究了动量管理中一个重要内容——力矩平衡姿态。这部分建立了空间站所受到的扰动力矩模型,并给出了扰动力矩在轨道坐标系和本体坐标系下的表达式,给出了一种迭代算法用来计算空间站的力矩平衡姿态,阐述了力矩平衡姿态自稳定的概念,并给出了相应的判断方法。最后通过仿真讨论了两种影响力矩平衡姿态的主要因素——大气密度与惯量积。最后,对空间站的姿态控制器的进行了设计。通过引入控制力矩陀螺的角动量方程建立了姿态控制与CMG角动量管理的线性化模型,采用状态反馈的极点配置法分别设计了俯仰通道与滚转/偏航通道的状态反馈控制器。在控制器的设计过程中,讨论了挠性振动模态所带来的约束,仿真结果表明设计的控制器可以很好的实现对考虑挠性附件影响的空间站的姿态控制以及CMG的角动量管理。更多还原

【Abstract】 Representing the most complicated, advanced and integrated level of astronautical technology, Space Station has more important applications than other spacecrafts. The attitude control system is a fundamental component of the Space Station. It is playing an important role in the higher requirements of Space Station’s pointing accuracy and its attitude stability. Momentum Management is aimed to monitor the momentum of CMG and keep it from saturation. Space Station can save its energy with the help of momentum management. The attitude control and momentum management control law have been studied in this thesis. The main contents are as follows:First, the kinetics model of Space Station is founded in this part. The attitude of Space Station is depicted in the form of Euler angle. In the assumption that the Space Station is a rigid body, kinetics model of rigid Space Station. Then, the vibration equation of beam appendage is derived by using lumped-mass method and the attitude dynamic model for flexible Space Station is obtained.Afterwards, the torque equilibrium attitude of Space Station is discussed. In this part, the models of aerodynamic torque, gravity gradient torque and gyroscopic torque are founded. Based on these models, an iterative algorithm which is used to calculate the torque equilibrium attitude is developed. Furthermore, the concept of the stability of torque equilibrium attitude and its judging methods are given. Then, two important factors, atmospheric density and the product of inertia, which are determinant to the torque equilibrium attitude, are discussed.The final part of this thesis is the design of the attitude control and momentum management controller. The kinetics model of the Space Station is linearized about the earth-oriented attitude. Based on the linearized equation and the momentum control equation of CMG, the state space equation of the attitude control and momentum management is obtained. In order to achieve the control purposes, state feedback controller is employed. By using the pole placement method, the state feedback controller is applied in both the pitch axis and roll/jaw axes. The flexible attitude dynamic model of Space Station is considered in the controller design procedures. The simulation results show that this controller can maintain the attitude of Space Station as well as keep momentum from saturation when disturbance exits.更多还原