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针对一类充液航天器系统,提出了一种滑模观测器的设计方法,有效的估计了液体燃油晃动角。首先,采用Lyapunov稳定性原理,设计了控制律,该控制律能够快速抑制充液航天器液体燃料晃动、稳定航天器的姿态。然后,考虑实际中液体燃油晃动角不可测的情况,设计了滑模观测器,该观测器通过对航天器姿态角、速度等状态的测量,使晃动估计角在一定误差范围内逼近真实值。最后用晃动估计角替换控制律中的晃动角,验证了估计角对航天器姿态的稳定效果。仿真结果表明,估计值能够在一定的误差范围内,快速跟踪真实值,验证了该滑模观测器的有效性。
Aiming at a kind of liquid filled spacecraft system, a sliding mode observer design method is proposed, which effectively estimates the liquid fuel rocking angle. Firstly, the Lyapunov stability principle is used to design the control law, which can quickly suppress the liquid fuel sloshing in the liquid-filled spacecraft and stabilize the attitude of the spacecraft. Then, considering the fact that the sloshing angle of liquid fuel is not measurable, a sliding mode observer is designed. By observing attitude, velocity and other states of the spacecraft, the observer estimates the sway angle within a certain error range to approximate the real value. Finally, the rocking angle in the control law is replaced by the rocking estimation angle, which verifies the stabilizing effect of the estimating angle on the attitude of the spacecraft. The simulation results show that the estimation value can track the true value quickly within a certain error range, and verify the validity of the sliding mode observer.