摘要
针对空间翻滚目标的逼近与跟踪控制,建立了适用于任意抓捕部位的相对姿态轨道耦合动力学模型,设计了具备测量不确定性和干扰补偿、抖振抑制等能力的鲁棒双滑模面控制律,分析并建立了测量误差在系统中向控制输入的传播模型。在充分考虑测量不确定性、控制干扰、输入受限等条件下,分别对单滑模面控制律和双滑模面控制律进行了仿真验证和对比分析,结果验证了双滑模面控制律在测量不确定性和未知干扰系统中具备更优的控制性能,收敛稳定更快,精度更高。
According to the particular demand to the approaching and tracking control of the space tumbling target and the applicability of arbitrary captured position, a coupled dynamic model of relative attitude and orbit is estab- lished. Under the measurement uncertainties and disturbances, the robust dual sliding-mode surface control law with the ability of disturbance compensation and jitter suppressing is designed. The error propagation model from the measurement to the input control quantity in the system is analyzed and established. The single and double slid- ing-mode surface control laws are simulated separately, under the conditions of the measurement uncertainty, con- trol disturbance and input constraint. The result verified that the dual sliding-mode surface control law has the better performance for the system with measurement uncertainty and disturbance.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2018年第1期23-32,共10页
Journal of Harbin Engineering University
基金
国家高技术研究发展计划(2013AA122904)
国家自然科学基金重大项目(61690214)
国家自然科学基金面上项目(61374162)
上海市扬帆人才计划项目(14YF1414500)
黑龙江省自然科学基金面上项目(F2015032)
哈尔滨市青年科技创新人才基金项目(2013RFQXJ001)
关键词
翻滚目标
姿轨耦合
测量不确定性
双滑模面控制
跟踪控制
动力学模型
tumbling target
coupling of attitude and orbit
measurement uncertainty
dual sliding-mode surface control
tracking control
dynamic model
作者简介
韩飞（1985-），男，高级工程师，博士研究生；通信作者：韩飞，E—mail：shanquan_5836@163．com．;段广仁（1962-），男，教授，博士生导师，＂长江学者＂特聘教授．
