【作者】 梁海朝；

【导师】 孙兆伟；

【作者基本信息】 哈尔滨工业大学 ， 行器设计， 2010， 硕士

【摘要】 编队卫星的姿态协同控制在合成孔径雷达成像和空基干涉测量等任务中起着重要的作用,近年来备受关注。而由于模型不确定性、外界干扰及星间通讯延迟等不利因素的存在,编队卫星在实际应用中难以得到满意的协同控制性能。本文研究了编队卫星的姿态协同控制理论和方法。论文主要内容如下:研究了主从模式下编队卫星的姿态协同控制方法。基于传统的单星姿态跟踪控制方法,设计了编队卫星的姿态协同控制器,并通过Lyapunov稳定性理论分析了控制器的稳定性。考虑到模型不确定性及外界干扰对卫星姿态的影响,基于滑模控制思想设计了独立于模型的鲁棒姿态控制器,并根据Barbalat引理的一个推论证明了所提出控制器对相应闭环系统的收敛性。基于上述控制方法,研究了编队卫星行为方式的姿态协同控制方法。在传统控制方法的基础上,通过引入相邻卫星姿态信息设计了姿态协同控制器,利用Lyapunov方法分析了编队系统的稳定性。考虑环境干扰力矩对卫星姿态的影响,在前述的鲁棒姿态控制器中引入邻近卫星的姿态信息设计了行为方式的姿态协同控制器,借助合适的Lyapunov函数及Barbalat引理的推论证明了编队系统闭环的稳定性。考虑了星间通讯时延的情况,利用神经网络的非线性拟合能力及预测能力,设计了输入时延的补偿器。针对输入姿态信息规律不变的情况,应用线性神经网络,设计了离线时延补偿器。考虑到当空间任务不同时,姿态运动规律也在变化。基于上述的离线时延补偿器,通过缩短样本集、实时更新样本和设定误差阈值的方法设计了在线预测的时延补偿器。更多还原

【Abstract】 The recent decades have witnessed active studies in attitude coordination control of spacecraft formation flying (SFF) for its significant roles in missions such as synthetic-aperture radar imaging and space-borne interferometry. However, for the sake of the existence of the detrimental factors such as model uncertainties, external disturbances and time delays in communication links, the performance of coordination control is not always satisfactory. To solve this problem, the paper focuses on the theory and methods for attitude coordination control of SFF. The main contents of this dissertation are as follows:The coordinate attitude control problem for SFF in the Leader-follower mode is investigated. Based on the traditional tracking control methods for a single spacecraft, an attitude coordination controller for SFF is proposed, and the stability of the controller is analyzed. Considering the model uncertainties and external disturbances, a robust controller is applied, according to the corollary of Barbalat’s lemma, the convergence of the system is proven theoretically.The study on coordinate attitude control for SFF in the behavior-based mode is also performed. Considering the attitude of the near-by spacecraft, an attitude coordination controller for SFF is designed, and the stability of the control system is analyzed by Lyapunov theory. In addition, based on the controller above, another controller which takes the external disturbances into consideration is proposed for behavior-based SFF, and also the convergence of the closed loop system is proven by the corollary of Barbalat’s lemma.There always exist time delays in communication links, as for this problem, Artificial Neural Network (ANN) is used for its non-linear fitting and prediction capabilities. Focusing on the situations that the input attitude information is invariant, an offline time delays compensator is designed based on linear ANN. While, considering about the situations that the input attitude information is variant, by limiting the sample, refreshing the sample concurrently and setting threshold value of errors, an online time delays compensator is presented.更多还原