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多运动体航天器系统各部分运动存在强烈耦合,这增加了动力学建模与控制难度。应用旋量理论与凯恩方程建立开环树状拓扑构型多运动体航天器通用的姿态动力学模型,有效简化系统运动学分析,计算量小,步骤清晰。针对系统强耦合,高度非线性的特点,设计基于逆系统的非奇异最终滑模控制器,完成系统各运动体姿态机动控制。首先,针对动力学方程设计α阶逆系统与原系统组成伪线性系统,完成精确反馈线性化的过程。然后,应用非奇异最终滑模控制器实现系统姿态机动控制,保证系统状态误差在有限时间内收敛到零。算例仿真结果验证了方法的有效性。
There is a strong coupling of the motions of various parts of the multi-sport spacecraft system, which increases the difficulty of modeling and controlling dynamics. The general attitude dynamics model of multi-sport spacecraft with open-loop dendritic topological structure is established by using spin theory and Kane’s equation, which simplifies the kinematics analysis of the system effectively. The calculation is small and the steps are clear. Aiming at the strong coupling and highly non-linearity of the system, a non-singular final sliding mode controller based on inverse system is designed to complete the maneuver control of each moving body. First, the pseudo-linear system composed of the α-order inverse system and the original system is designed for the dynamic equation, and the process of accurate feedback linearization is completed. Then, the non-singular final sliding mode controller is used to control the attitude of the system to ensure that the system state error converges to zero within a finite time. The simulation results show that the method is effective.