检索结果-南通市图书馆

Robust Control of Spacecraft Eigenaxis Maneuver via Integral Sliding Mode

在线全文

学校读者我要写书评

暂无评论

Robust Control of Spacecraft Eigenaxis Maneuver via Integral...

第25届中国控制与决策会议

作者： Zhen Chen binglong cong Xiangdong Liu School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781467355339

The control problem of spacecraft eigenaxis maneuver in the presence of parametric uncertainty and external disturbance is addressed in this paper. Modified Rodrigues parameters （MRPs） are utilized as the attitude parameters for the non-redundancy. An eigenaxis maneuver control law with feedback and feed-forward terms is presented for the nominal system. The transient response of close loop system can be adjusted according to an approximate second order system. To improve the robustness, integral sliding mode （ISM） technique is adopted to reject undesirable effects and track nominal trajectory. The resulting controller can perform the eigenaxis maneuver in the presence of parametric uncertainty and external disturbance while possess good system performance. The effectiveness of the proposed method is demonstrated by simulation results.

关键词： Rigid Spacecraft Attitude Control Eigenaxis Rotation Integral Sliding Mode MRPs

A Precise and Robust Control Strategy for Rigid Spacecraft Eigenaxis Rotation

在线全文

cnki会议

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2011年第4期24卷 484-492页

作者： cong binglong LIU Xiangdong CHEN Zhen School of Automation Beijing Institute of Technology Beijing 100081 China

Eigenaxis rotation is generally regarded as a near-minimum time strategy for rapid attitude maneuver due to its constitution of the shortest angular path between two orientations. In this paper, the robust control problem of rigid spacecraft eigenaxis rotation is investigated via time-varying sliding mode control （TVSMC） technique. Both external disturbance and parameter variation are taken into account. Major features of this robust eigenaxis rotation strategy are first demonstrated by a TVSMC algorithm. Global sliding phase is proved as well as the closed-loop system stability. Additionally, the necessary condition for eigenaxis rotation is provided. Subsequently, to suppress the global chattering and improve the control accuracy, a disturbance observer-based time-varying sliding mode control （DOTVSMC） algorithm is presented, where the boundary layer approach is used to soften the chattering and a disturbance observer is designed to attenuate undesired effect. The spacecraft attitude is represented by modified Rodrigues parameter （MRP） for the non-redundancy. Finally, a numerical simulation is employed to illustrate the effectiveness of the proposed strategy, where the pulse-width pulse-frequency （PWPF） technique is utilized to modulate the on-off thrusters.

关键词： attitude control eigenaxis maneuver time-varying sliding mode control global robust disturbance observer pulse-width pulse-frequency modulator

刚体航天器姿态跟踪系统的自适应积分滑模控制

在线全文

学校读者我要写书评

暂无评论

航空学报 2013年第3期34卷 620-628页

作者：丛炳龙刘向东陈振北京理工大学自动化学院北京100081 北京理工大学复杂系统智能控制与决策重点实验室北京100081

采用自适应滑模控制(ASMC)技术进行姿态跟踪系统设计时,切换增益的整定不需要外部干扰及惯量阵不确定性的上界信息。但现有自适应滑模控制方法存在过度适应问题,产生的切换增益远大于控制所需值。为解决该问题,在自适应滑模控制框架内... 详细信息

采用自适应滑模控制(ASMC)技术进行姿态跟踪系统设计时,切换增益的整定不需要外部干扰及惯量阵不确定性的上界信息。但现有自适应滑模控制方法存在过度适应问题,产生的切换增益远大于控制所需值。为解决该问题,在自适应滑模控制框架内开展了刚体航天器姿态跟踪控制研究。首先对切换增益自适应机制进行分析,揭示了造成过度适应问题的原因。然后利用积分滑模控制的全局滑模特点,消除了初始跟踪误差对自适应过程的影响,提出了一种自适应积分滑模姿态跟踪控制方法。理论分析和仿真结果表明该方法能够有效减小切换增益。

关键词：姿态控制自适应滑模过度适应抖振削弱积分滑模

基于反步自适应滑模控制的永磁同步电机位置伺服系统

在线全文

学校读者我要写书评

暂无评论

电工技术学报 2013年第9期28卷 288-293,301页

作者：付培华陈振丛炳龙赵静北京理工大学自动化学院复杂系统智能控制与决策重点实验室北京100081

针对永磁同步电机位置伺服系统的强鲁棒性、高控制精度以及快速无超调响应要求,基于反步思想提出了一种反步自适应滑模控制(ASMC)策略。通过将反步设计方法与滑模控制结合,解决了传统PID三环系统位置跟踪精度不高,响应慢及鲁棒性差的问... 详细信息

针对永磁同步电机位置伺服系统的强鲁棒性、高控制精度以及快速无超调响应要求,基于反步思想提出了一种反步自适应滑模控制(ASMC)策略。通过将反步设计方法与滑模控制结合,解决了传统PID三环系统位置跟踪精度不高,响应慢及鲁棒性差的问题。将自适应机制引入到滑模控制算法设计中,去除了对扰动及系统参数不确定性上界信息的先验要求。利用Lyapunov稳定性理论给出了闭环系统的稳定性分析。最后在DSP实验系统平台上对本文设计的算法进行了验证。实验结果表明,与PID控制相比,所提方法具有控制精度高、系统响应速度快且鲁棒性强的特点。

关键词：反步法自适应滑模永磁同步电机位置伺服系统

在线全文

学校读者我要写书评

暂无评论

基于输入成形的挠性航天器自适应滑模控制

航空学报 2013年第8期34卷 1906-1914页

作者：苗双全丛炳龙刘向东北京理工大学自动化学院北京100081 北京理工大学复杂系统智能控制与决策重点实验室北京100081

针对大型挠性航天器姿态机动过程中的振动抑制问题,提出一种输入成形(IS)与自适应滑模控制(ASMC)相结合的控制策略。该控制策略利用输入成形抑制标称挠性系统的残余振动,并通过滑模控制保证实际系统在参数不确定性和外部干扰的影响下实... 详细信息

针对大型挠性航天器姿态机动过程中的振动抑制问题,提出一种输入成形(IS)与自适应滑模控制(ASMC)相结合的控制策略。该控制策略利用输入成形抑制标称挠性系统的残余振动,并通过滑模控制保证实际系统在参数不确定性和外部干扰的影响下实现对标称系统的跟踪,解决了输入成形对参数不确定性和外部干扰的敏感性问题。进一步采用自适应技术去除了滑模切换增益对参数不确定性和干扰上界的先验性要求。仿真结果表明,在参数不确定性和外界干扰的影响下,该控制方法能够保证在完成姿态机动的同时抑制航天器的挠性振动。

关键词：输入成形滑模控制自适应控制挠性航天器振动抑制

在线全文

学校读者我要写书评

暂无评论

基于扰动观测器的指数时变滑模再入姿态控制

中国空间科学技术 2013年第4期33卷 31-39页

作者：王亮刘向东盛永智丛炳龙北京理工大学自动化学院北京100081 北京理工大学复杂系统智能控制与决策重点实验室北京100081

针对再入飞行器姿态控制问题,设计了一种全局鲁棒的基于扰动观测器的指数时变滑模姿态控制器,使得在存在匹配模型参数不确定性和外部扰动情况下仍能够实现精确的姿态控制。首先对飞行器模型进行反馈线性化解耦,将俯仰、滚转、偏航通道... 详细信息

针对再入飞行器姿态控制问题,设计了一种全局鲁棒的基于扰动观测器的指数时变滑模姿态控制器,使得在存在匹配模型参数不确定性和外部扰动情况下仍能够实现精确的姿态控制。首先对飞行器模型进行反馈线性化解耦,将俯仰、滚转、偏航通道分解为3个独立的二阶系统。然后以俯仰通道为例,设计指数时变滑模控制器,使得系统具有全局鲁棒性。进一步,为了减小采用饱和函数消除滑模控制抖振而带来的系统跟踪误差,引入扰动观测器,设计了一种基于扰动观测器的指数时变滑模控制系统。最后,以某飞行器为例建立六自由度仿真模型,在考虑大气密度、转动惯量偏差以及外部高频扰动的情况下,验证了加入扰动观测器后对系统性能的提高。

关键词：指数时变滑模扰动观测器姿态控制鲁棒性再入飞行器

Time-varying sliding mode control for spacecraft attitude maneuver with angular velocity constraint

在线全文

学校读者我要写书评

暂无评论

Time-varying sliding mode control for spacecraft attitude ma...

2011 Chinese Control and Decision Conference（CCDC）

作者： binglong cong,Xiangdong LIU,Zhen CHEN and Xianren REN are with School of Automation,Beijing Institute of Technology,Beijing,100081,China

In this paper,the attitude control problem for uncertain spacecraft under angular velocity constraint is *** parametric uncertainty and external disturbance are considered in the spacecraft’s *** spacecraft’s attitude is represented by modified Rodrigues parameter （MRP） for its non-redundancy.A time-varying sliding mode control （TVSMC） algorithm is derived for attitude control *** proposed control algorithm eliminates the reaching phase of the conventional time-invariant sliding mode control （SMC） and guarantees the sliding mode occurrence all the ***,the control parameter is adjusted to avoid the angular velocity constraint during the ***,a numerical simulation is employed to verify the proposed control algorithm.

关键词： Uncertain Spacecraft Attitude Maneuver Time-varying Sliding Mode Control Angular Velocity Constraint

Attitude Coordination of Deep Space Formation Flying via Virtual Structure

在线全文

cnki会议

学校读者我要写书评

暂无评论

Attitude Coordination of Deep Space Formation Flying via Vir...

第二十九届中国控制会议

作者： cong binglong,LIU Xiangdong,CHEN Zhen School of Automation,Beijing Institute of Technology,Beijing 100081,P.R.China

An attitude coordination control strategy is proposed for deep space formation flying attitude *** formation is treated as a rigid body via virtual *** architecture is introduced to deal with the multi-level control of virtual structure and formation *** with the attitude motion of the virtual structure,the desired attitude motion trajectories of formation spacecrafts are obtained for attitude control *** improve the robustness,a sliding mode control low is designed in the local attitude tracking controller to track the desired attitude ***,a numerical simulation of three spacecrafts deep space formation flying is employed to illustrate the effectiveness of the proposed strategy.

关键词： Formation Flying Attitude Coordination Virtual Structure Hierarchical Architecture Sliding Mode Control

Dynamical Sliding Mode Control of Spacecraft Attitude using SGCMG Systems

在线全文

cnki会议

学校读者我要写书评

暂无评论

Dynamical Sliding Mode Control of Spacecraft Attitude using ...

第二十九届中国控制会议

作者： CHEN Chen,LIU Xiangdong,cong binglong,JIN Yongqiang School of Automation,Beijing Institute of Technology,Beijing 100081,P.R.China

To solve the chattering problem in the conventional sliding-mode control,the dynamical sliding-mode control is *** function contains not only the error and its differential term,but also the feedback of the *** expression of the controller’s output is a dynamic differential equation about the errors and the controller’s *** this way the control performance is also *** paper deals with the modeling and simulation of attitude maneuver control for spacecraft by Single Gimbal Control Moment Gyroscopes(SGCMG)*** first,the dynamical model of SGCMG and the attitude dynamic model of spacecraft were *** on the pseudo-inverse solution with least square norm,the steering law of SGCMGs was designed.A null motion was added into the control law so that any internal singularity of gimbal configurations was *** virtual prototype technology,the conflict between the complex mathematical model and joint simulation is *** on the ADAMS and MATLAB,The united simulation system of attitude control for spacecraft with SGCMG systems is *** simulation results show the effiectiveness of the dynamical sliding-mode controller,and validate the feasibility and advantages in improving the design efficiency of attitude control system with this method.

关键词： SGCMG Dynamical Sliding Mode Control Attitude Maneuver Control for Spacecraft