| 基于时频域分析的轮控航天器姿态控制规律参数整定 |
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| 引用本文： | 李传江,郭延宁,张永合,马广富.基于时频域分析的轮控航天器姿态控制规律参数整定[J].宇航学报,2011,32(11):2319-2325. |
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| 作者姓名： | 李传江 郭延宁 张永合 马广富 |
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| 作者单位： | (1.哈尔滨工业大学控制科学与工程系，哈尔滨 150001；2.上海微系统与信息技术研究所，上海 200050) |
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| 基金项目： | 国家自然科学基金(60774062)；哈尔滨工业大学优秀青年教师培养计划资助(HITQNJS.2008.006)；中央高校基本科研业务费专项资金资助(HIT.KLOF.2010016);-哈尔滨市科技创新人才研究专项资金(2010RFQXG029) |
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| 摘 要： | 研究了轮控航天器姿态控制规律的设计与参数整定问题。采用xyz转序欧拉角描述航天器姿态，建立了航天器动力学及运动学方程，并设计了非线性解耦控制律，使得各回路可独立设计PID控制器。以滚动回路为例，分析了PD控制参数与系统带宽、截止频率、相位裕度等多项频域指标的关系，从而设计有效的稳态控制器以应对挠性结构振动和系统时延等；接着根据姿态控制特性给出了积分参数选取及积分饱和处理策略；同时为快速完成姿态机动，结合时间最优控制特性分析了控制参数与机动角度的关系；此外，执行机构效率和系统干扰力矩等因素也被用于控制参数域的整定。最后利用整定策略设计了某型卫星的姿态控制器，并通过频域分析和数学仿真检验了该方法的有效性和实用性。
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| 关 键 词： | 姿态控制 姿态机动 PID控制 参数整定 轮控航天器 |
| 收稿时间： | 2010-10-22 |
Parameter Tuning for the Attitude Control Algorithm of Wheel Controlled Spacecraft Based on Time and Frequency Domain Analysis |
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| LI Chuanjiang,GUO Yanning,ZHANG Yonghe,MA Guangfu.Parameter Tuning for the Attitude Control Algorithm of Wheel Controlled Spacecraft Based on Time and Frequency Domain Analysis[J].Journal of Astronautics,2011,32(11):2319-2325. |
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| Authors: | LI Chuanjiang GUO Yanning ZHANG Yonghe MA Guangfu |
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| Affiliation: | (1.Dept. of Control Science and Engineering， Harbin Institute of Technology， Harbin 150001，China；
2.Shanghai Institute of Microsystem and Information Technology，Shanghai 200050， China) |
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| Abstract: | The problem of attitude control law design and parameter tuning for wheel controlled spacecraft is investigated. By using the xyz rotation sequence Euler angle to represent spacecraft attitude, the attitude dynamics and kinematics equations are given. A nonlinear decoupling control law is developed to ensure that the PID controller can be designed separately for each control loop. After that, taking roll loop for example, the relationship between PD control parameters and system bandwidth, cross frequency and phase margin are obtained, and can be used to design more effective controller to deal with vibration of flexible structure and time delay of the system. Then integral parameter selection rule and the integral saturation suppression strategy are proposed based on the characteristics of attitude control system. Besides, the efficiency of wheel and disturbing torques are also considered for control parameter tuning. Finally, a series of numerical simulations are performed to verify effectiveness and practicability of the proposed parameter tuning strategy.
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| Keywords: | Attitude control Attitude maneuver PID controller Parameter tuning Wheel controlled spacecraft |
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