Application of LQR Algorithm with Pole Placement in TEA Control for Space Station
-
摘要: 在进行空间站力矩平衡姿态(TEA)控制设计时,需要将姿态动力学、动量管理与干扰抑制滤波器相结合形成系统模型,以抑制外部干扰对姿态的影响.带有区域配置的改进LQR算法用于线性化的系统模型,能够使得系统闭环极点落入期望的扇形区域,区域分别由给定整数定义张角、正数定义稳定阈,建立的代数Riccati方程组可采用两步法进行迭代求解,自动生成所需要的状态权矩阵,并得到系统的反馈增益,完成闭环极点的区域配置.该算法用于对空间站姿态控制及动量管理的控制系统,结果表明系统稳态及动态特性能够达到预期目标.
-
关键词:
- 力矩平衡姿态(TEA) /
- 动量管理 /
- LQR算法 /
- 代数Riccati方程
Abstract: While designing the Torque Equilibrium Attitude (TEA) controller, a plant model for space station control, including attitude dynamics and momentum management, is concatenated with rejection filters to counteract the attitude undulation due to specified frequency disturbances. A modified Least Quadratic Regulator (LQR) algorithm with pole placement is adopted for the linearized motion model. This approach places close-looped poles in a margined fan-like region with its span angle defined by a specified integer and margin distance to the imaginary axis by a positive scalar. One pair of algebra Riccati equations can be solved with two-stage iterations, and the state weight matrix as well as the feedback gain matrix is calculated during the procedure. Desirable dynamic and stable performance can be obtained when this approach is tried upon this coupled model. -
[1] WIE B, BYUN K W, WARRENV W. A New Momentum Management Controller for the Space Station: B89661[R], 1988 [2] WARREN W, WIE B. Periodic Disturbance Accommodating Control of the Space Station for Asymptotic Momentum Management: N90-13416[R], 1990 [3] WIE B. Robust Stabilization of the Space Station-Final Report: NASA-CR-190627[R], 1991 [4] HARDUVEL J T. Continuous momentum management of Earth-oriented spacecraft[J]. J. Guid. Dyn. Control, 1992, 15(6):1417-1426 [5] SUNKEL J W. Space Station Dynamics Attitude Control and Momentum Management: N90-23029[R], 1990 [6] SUNKEL J W, SHIEH L S. Multistage design of an optimal momentum management controller for the space station[J]. J. Guid., 1991, 14(3):492-502 [7] ELGERSMA M R, STEIN G, JACKSON M R. Robust controllers for space station momentum manage-ment[C]//1991 IEEE Conference on Decision and Control. Brighton, England: IEEE, 1991 [8] ZHAO X M, SHIEH L S. Self-tuning control of attitude and momentum management for the space station[J]. J. Guid. Dyn. Control, 1991, 14(3):17-27 [9] PARLOS A G, SUNKEL J W. Adaptive attitude control and momentum management for large-angle spacecraft maneuvers[J]. J. Guid. Dyn. Control, 1992, 15(4):1018-1028 [10] LEE A C. Robust Momentum Manager Controller for Space Station Applications[D]. Houston: Rice University, 2003 [11] HU Shan, YUAN Jianping, LI Wenhua. The research on attitude control and momentum management of the space station[J]. Chin. J. Aerospace Control, 2004, 122(5):36-41 (胡珊, 袁建平, 李文华. 空间站姿态控制和动量管理研究[J]. 航天控制, 2004, 122(5):36-41) [12] WU Zhong. Rejection of cyclic disturbances for attitude control/momentum management system in space station[C]//Proceedings of the Chinese Control Confe-rence. Guangzhou: Chinese Association of Automation, 2005:1425-1428 (吴忠. 空间站姿态/动量管理控制周期性扰动抑制[C]//第24届中国过程控制会议. 广州: 中国自动化学会, 2005:1425-1428) [13] WU Zhong. Nonlinear control of attitude and momentum for space station[J]. J. Acta Aeron. Astron. Sin., 2006, 27(6):1155-1160 [14] ZHOU Lini, TANG Guojin, LUO Yazhong, et al. Stability-based LQR controller for space station TEA-holding[J]. Chi. J. Astron., 2007, 28(5):1142-1148
点击查看大图
计量
- 文章访问数: 1339
- HTML全文浏览量: 32
- PDF下载量: 1062
- 被引次数: 0