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针对目前文献中采用的充液航天器模型多为二维平面模型,而实际中充液航天器在轨运行环境为三维环境的情况,对一类贮箱关于航天器中心轴对称的三维面充液航天器进行了动力学建模与姿态控制研究,使其更具有实际意义。首先,根据航天器在轨运行的环境建立了参考坐标系,采用单摆模型等效液体燃料的晃动。在此基础上采用角动量守恒定律建立了充液航天器各个部分对其质心的惯性力矩,并将其与充液航天器动能方程推导得出的拉格朗日方程相结合,得出完整的动力学方程,完成了建模工作,并分析得出该欠驱动系统零动态不稳定的结论。最后,考虑航天器刚体部分常值转动惯量存在参数不精确,同时三轴力矩发生常值干扰的情况,设计了滑模控制器,保证了充液航天器在轨道坐标系上的姿态稳定。
In view of the fact that the liquid-filled spacecraft model used in the current literature is mostly a two-dimensional plane model, the actual operation of the liquid-filled spacecraft in the orbit is a three-dimensional environment. For a type of tank, the three- Liquid spacecraft dynamics modeling and attitude control research to make it more practical significance. First of all, according to the spacecraft orbiting environment established reference frame, the use of pendulum model equivalent liquid fuel sloshing. On this basis, the inertia moment of each part of the liquid-filled spacecraft to its center of mass is established by the law of conservation of angular momentum and combined with the Lagrange’s equation derived from the kinetic energy equation of the liquid-filled spacecraft, the complete Kinetic equation, completed the modeling work, and concluded that the underactuated system zero dynamic instability conclusion. Finally, considering the inaccurate parameters of the moment of inertia of the spacecraft rigid body and the interference of the triaxial moment, the sliding mode controller is designed to ensure the attitude stability of the liquid filled spacecraft on the orbital coordinate system.