采用复合控制方法对充液航天器的姿态和轨道机动进行高精度控制.通过傅里叶-贝塞尔级数展开法,将低重力环境下液体的弯曲自由表面的动态边界条件转化为简单的微分方程,其中耦合液体晃动方程的状态向量由相对势函数的模态坐标和波高的模态坐标组成.通过广义准坐标下的拉格朗日方程得到航天器刚体部分运动和液体燃料晃动的耦合动力学方程,提出了自适应快速终端滑模策略和输入整形技术相结合的复合控制器,并分别用于控制携带有一个燃料腔和四个燃料腔航天器的轨道机动和姿态机动.通过数值模拟来验证控制器的效率和精度.结果表明,对于多储液腔航天器,如果在设计航天器的姿态和轨道控制器时没有充分考虑燃料晃动效应,那么在受控航天器系统中将会出现刚-液-控耦合问题并导致航天器姿态不稳定.而本研究中的复合自适应终端滑模控制器可以实现航天器机动的高精度控制并有效抑制液体燃料晃动. The composite control method is used to control the attitude and the orbital maneuver of the liquid-filled spacecraft with high accuracy.The dynamic boundary conditions of the curved free surface of the liquid in low gravity environment are converted to simple Fourier-Bessel series expansion method Differential equation, in which the state vector of the coupled liquid sloshing equation is composed of the modal coordinates of the relative potential function and the modal coordinates of the wave height. The coupling of the rigid body part movement and the liquid fuel sloshing of the spacecraft is obtained by means of the Lagrange equation in generalized quasi- Dynamics equations, a hybrid controller with adaptive rapid terminal sliding mode strategy and input shaping technique is proposed and used to control orbital maneuvering and attitude maneuvering respectively with a fuel chamber and four fuel cavity spacecraft. Simulation to verify the efficiency and accuracy of the controller.The results show that for multi-reservoir spacecraft, if the design of spacecraft attitude and orbit controller did not fully consider the effect of fuel sloshing, then the controlled spacecraft system will The emergence of rigid-liquid-controlled coupling problems and lead to spacecraft attitude instability.In this study, the composite adaptive terminal sliding mode controller In order to achieve high-precision control of spacecraft maneuver and effectively suppressing sloshing of liquid fuel.