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针对柔性航天器带有执行机构饱和的姿态控制问题,提出了一种将反馈控制与内闭环信号成形相结合的控制方法。将成形器作用于系统内闭环回路中,通过人为引入控制延时达到抑制振动的目的,避免敏感器扰动、执行机构饱和等非线性影响控制器振动抑制效果。全物理实验结果表明,在反作用飞轮存在控制力矩饱和的情况下,该方法不仅使航天器快速地、平稳地完成高精度姿态机动,而且显著地减少了柔性结构的弹性振动,具有算法简单、易于在轨实时计算的优点。
Aiming at the attitude control problem of flexible spacecraft with actuator saturation, a control method combining feedback control and inner closed-loop signal shaping is proposed. The role of the shaper in the system closed-loop, the introduction of artificial control delay to achieve the purpose of suppressing vibration, to avoid sensor disturbance, actuator saturation and other nonlinear effects of the controller vibration suppression. The results of the full physics experiment show that this method can not only make the spacecraft move quickly and smoothly with high precision attitude maneuver but also reduce the elastic vibration of the flexible structure remarkably when the reactionary flywheel has the control moment saturation. The method has the advantages of simple algorithm, The advantages of in-orbit real-time calculations.