Adaptive Passive Control for Large-angle Attitude Maneuver of Liquid-filled Spacecraft
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摘要: 研究了基于自适应无源控制的三轴稳定充液航天器大角度姿态机动问题.将液体晃动等效为黏性球摆模型，利用动量矩守恒定理推导出充液航天器耦合动力学方程.针对陀螺故障及无陀螺配置导致航天器姿态无角速度测量的情况，同时考虑存在外部未知干扰、转动惯量不确定性以及液体晃动位移不可测量的特性，设计自适应输出反馈无源控制，其中自适应更新律用于补偿外部未知干扰和估计液体晃动的位移变量.利用Lyapunov方法和LaSalle不变引理，证明该控制律不但可以保证闭环系统渐进稳定，而且可以保证二个期望平衡位置均达到稳定.仿真结果验证了本文控制方法的有效性.Abstract: In this paper, the large-angle attitude maneuver of three-axis stabilized liquid-filled spacecraft based on adaptive passive control is studied. The liquid sloshing is equivalent to the viscous spherical pendulum model, and the dynamic model of the coupled system is established by using the law of conservation of angular momentum. In view of the fact that gyroscope faults or gyroscope-free configuration lead to no angular velocity measurement of spacecraft attitude, considering the characteristics of unknown external disturbance, the moment of inertia uncertainty and the un-measurable characteristics of liquid sloshing displacement, the adaptive output feedback passive control law is designed for large angel attitude maneuver of spacecraft. The adaptive update laws are used to compensate for external disturbances and estimate state variables for liquid sloshing. The Lyapunov method and LaSalle invariant lemma prove that the control law can not only ensure the asymptotic stability of the closed-loop system but also ensure the two desired equilibrium positions are stable. Finally, simulation results verify the effectiveness of the proposed control method.
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Key words:
- Liquid-filled spacecraft /
- Attitude maneuver /
- Liquid sloshing /
- Adaptive passive control
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