充液挠性航天器姿态机动终端滑模控制

吴涛涛; 宋晓娟; 吕书锋

doi:10.11728/cjss2023.04.2022-0038

充液挠性航天器姿态机动终端滑模控制

doi: 10.11728/cjss2023.04.2022-0038 cstr: 32142.14.cjss2023.04.2022-0038

吴涛涛^{1, 2},
宋晓娟^{1, 2,},
吕书锋³

1.
内蒙古工业大学机械工程学院　呼和浩特　010051
2.
内蒙古自治区特种服役智能机器人重点实验室　呼和浩特　010051
3.
内蒙古工业大学理学院　呼和浩特　010051

基金项目: 国家自然科学基金项目（11962020，11862020，12172182，12132002），内蒙古自治区高等学校青年科技人才项目（NJYT23029，NJYT23067），内蒙古自治区高等学校创新团队发展计划支持项目（NMGIRT2213），内蒙古自治区直属高校基本科研业务费项目（JY20220046）和天津市自然科学基金重点项目（19JCZDJC32300）共同资助

详细信息

作者简介:

宋晓娟：E-mail：xjsong0603@163.com

中图分类号: V435
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出版历程
- 收稿日期: 2022-08-09
- 录用日期: 2023-06-25
- 修回日期: 2023-02-22
- 网络出版日期: 2023-06-25

Research on Attitude Maneuver and Vibration of Liquid-filled Flexible Spacecraft Based on Terminal Sliding Mode Control

WU Taotao^{1, 2},
SONG Xiaojuan^{1, 2
,},
LÜ Shufeng³

1.
College of Mechanical Engineering, Inner Mongolia University of Technology, Hohhot 010051
2.
Inner Mongolia Autonomous Region Key Laboratory of Special Service Intelligent Robot, Hohhot 010051
3.
College of Science, Inner Mongolia University of Technology, Hohhot 010051

摘要

摘要: 对存在未知外界干扰、参数不确定问题的刚–液–柔多体耦合航天器姿态控制进行了研究。将液体燃料的晃动等效为球摆模型，挠性附件假设为欧拉–伯努利梁，运用拉格朗日方法建立航天器的动力学方程。将外界干扰、航天器转动惯量的参数不确定性以及液体晃动和挠性附件振动带来的耦合干扰归结为集总干扰，设计干扰观测器对其进行补偿；在干扰观测器的基础上，设计一种模糊滑模控制律。在原有的终端滑模控制基础上采用模糊控制对切换增益进行改进，达到抑制系统抖动的目的。数值仿真结果表明：所设计的模糊终端滑模控制律不仅能够实现充液挠性航天器的姿态机动，而且能够有效抑制液体晃动和挠性附件的振动，具有更好的控制性能。
- 刚–液–柔耦合航天器 /
- 姿态机动 /
- 干扰观测器 /
- 终端滑模控制 /
- 模糊控制
Abstract: In this paper, the attitude control of rigid-liquid-flexible multi-body coupling spacecraft with unknown external disturbances and uncertain inertia parameters is studied, and an attitude maneuver control method based on disturbance observer and fuzzy terminal sliding mode control is proposed. The sloshing of liquid fuel in the spacecraft is equivalent to a spherical pendulum model, and the flexible appendages are assumed to be an Euler-Bernoulli beam. The coupled dynamic equation of the liquid-filled flexible spacecraft is derived by using the Lagrange method. First of all, the interference from space, the parameter uncertainty of the moment of inertia of the spacecraft, the coupling interference caused by the liquid sloshing and the vibration of flexible accessories are summed up as lumped interference. Design disturbance observer to compensate and estimate the lumped disturbance of the system. Then, based on the designed disturbance observer, a fuzzy terminal sliding mode control law is presented, and it is proved that the state of the closed-loop system is finite-time stable under the control law, and converges to the specified terminal sliding mode surface. The fuzzy terminal sliding mode control law uses fuzzy control to improve the switching gain based on the traditional terminal sliding mode control to achieve the purpose of suppressing system jitter. This optimization method can not only reduce the complexity of terminal sliding mode control method, but also reduce the difficulty of debugging parameters because it does not introduce new functions. The numerical simulation results show that the designed fuzzy terminal sliding mode control law can not only achieve the finite-time stability of the closed-loop attitude control system of the liquid-filled flexible spacecraft, but also effectively suppress the liquid sloshing and the vibration of the flexible appendages. At the same time, it has good robustness to disturbances caused by external disturbances and parameter uncertainties, and has better control performance.
- Rigid-liquid-flexible coupling spacecraft /
- Attitude maneuver /
- Disturbance observer /
- Terminal sliding mode control /
- Fuzzy control

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图 1 充液挠性航天器及力学模型

Figure 1. Schematic diagram and mechanical model of liquid-filled flexible spacecraft

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图 2 模糊输入的隶属度函数

Figure 2. Membership function of fuzzy input

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图 3 模糊输出$ \Delta p $的隶属度函数

Figure 3. Membership function of fuzzy output

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图 4 输出$ \Delta p $的模糊规则云图

Figure 4. Outputted cloud map of fuzzy rules

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图 5 干扰力矩及其估计值响应

Figure 5. Interference torque and its estimated response

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图 8 情形一姿态四元数响应

Figure 8. Attitude quaternion moment response in Case 1

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图 9 情形一等效球摆晃动位移响应

Figure 9. Equivalent ball swing displacement response in Case 1

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图 10 情形一挠性附件的三阶模态坐标响应

Figure 10. Third order mode coordinate response of flexible attachment in Case 1

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图 6 情形一控制力矩响应

Figure 6. Control moment response in Case 1

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图 7 情形一角速度响应

Figure 7. Angular velocity response in Case 1

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图 11 情形二控制力矩响应

Figure 11. Control moment response in Case 2

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图 12 情形二角速度响应

Figure 12. Angular velocity response in Case 2

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图 13 情形二姿态四元数响应

Figure 13. Attitude quaternion moment response in Case 2

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图 14 情形二等效球摆晃动位移响应

Figure 14. Equivalent ball swing displacement response in Case 2

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图 15 情形二挠性附件的三阶模态坐标响应

Figure 15. Third order modal coordinate response of flexible attachment in Case 2

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