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空间电磁对接具有不消耗推进剂、连续可逆控制能力和无羽流污染等优点,应用前景广阔。空间电磁对接控制难点在于强非线性、不确定性以及耦合性等问题。为此,论文综合采用线性扩张状态观测器(LESO,Line Extended State Observer)、反馈线性化以及鲁棒H∞控制技术,设计空间电磁对接的鲁棒协调控制,并通过仿真检验所设计控制方案的性能及其鲁棒性。仿真结果表明,所设计的控制器不但可以观测到系统所有状态变量,而且能提高系统对模型不确定性以及外界干扰的鲁棒性,跟踪控制性能良好。
Space electromagnetic docking with no consumption of propellant, continuous reversible control ability and no plume pollution, etc., the application prospect is broad. The difficulty of space electromagnetic docking control lies in the problems of strong nonlinearity, uncertainty and coupling. To this end, the paper adopts LESO (Linear Extended State Observer), feedback linearization and robust H∞ control techniques to design a robust coordinated control of space electromagnetic docking, and through the simulation test of the designed control scheme Performance and robustness. The simulation results show that the designed controller can not only observe all the state variables of the system, but also improve the robustness of the system to model uncertainty and external disturbance, and the tracking control performance is good.