基于分数阶滑模的航天器姿态鲁棒控制

针对存在外部扰动及转动惯量不确定性的高精度高稳定度的航天器姿态控制问题,提出了一种具有强鲁棒性的分数阶滑模控制器。首先,在修正罗德里格参数描述的航天器数学模型基础上,导出了便于分数阶滑模控制器设计的等效数学模型。其次,在传统滑模控制的滑模面与控制律中均引入分数阶微分算子,利用分数阶微分算子的快速收敛性与信息记忆性,设计了分数阶滑模控制器,并使用Lyapunov理论与分数阶稳定性理论证明了整个系统的稳定性。最后,仿真试验表明,分数阶滑模控制器具有高精度、强鲁棒性和良好的抗干扰性。     

Nonlinear Adaptive Robust Force Control of Hydraulic Load Simulator

This paper deals with the high performance force control of hydraulic load simulator. Many previous works for hydraulic force control are based on their linearization equations, but hydraulic inherent nonlinear properties and uncertainties make the conventional feedback proportional-integral-derivative control not yield to high-performance requirements. In this paper, a nonlinear system model is derived and linear parameterization is made for adaptive control. Then a discontinuous projection-based nonlinear adaptive robust force controller is developed for hydraulic load simulator. The proposed controller constructs an asymptotically stable adaptive controller and adaptation laws, which can compensate for the system nonlinearities and uncertain parameters. Meanwhile a well-designed robust controller is also developed to cope with the hydraulic system uncertain nonlinearities. The controller achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities; in the absence of uncertain nonlinearities, the scheme also achieves asymptotic tracking performance. Simulation and experiment comparative results are obtained to verify the high-performance nature of the proposed control strategy and the tracking accuracy is greatly improved.     

基于终端角度约束的滑模制导律设计

针对打击地面目标的制导问题,提出了一种新的具有终端角度约束的鲁棒滑模制导律。在建立地面目标和导弹的相对运动学关系的基础上,基于零化弹目视线角速率的思想,采用变结构控制理论的方法,通过选择理想的终端角度确定一个光滑的非线性滑动模态,代替传统末制导律设计的滑动模态,利用Lyapunov稳定理论设计得到了具有鲁棒性的滑模末制导律,实现了在有限时间精确打击目标,满足终端角度的要求。数字仿真表明,这种制导律对目标的运动具有很好的鲁棒性和适应性,并能获得良好的制导精度和指定的终端角度要求。     

基于混沌时间序列的飞行冲突预测(英文)

为了准确掌握飞行冲突量的变化规律及其准确预测,对飞行冲突的混沌问题进行了研究。首先,基于人-机-环境系统工程理论,建立飞行冲突的故障树,从定性的角度分析了飞行冲突的混沌特性;然后,建立了基于小数据量方法和小波去噪理论的最大Lyapunov指数λmax的改进混合算法,并利用此方法从定量的角度证明了飞行冲突时间序列中混沌现象的存在;最后,利用混沌预测方法对模拟数据进行预测,并通过灰色误差检验方法对预测结果进行评价。检验结果为后验差比值为0.2209<0.35,小误差概率为0.9853>0.95。结果表明该预测方法的有效性。因此,说明应用混沌理论进行飞行冲突分析与预测是可行的。     

Lyapunov方法在姿态机动控制律设计中的应用

采用Lyapunov方法设计了独立于模型的标量增益的线性控制律和矩阵增益的非线性控制律,从理论上分析和证明了在该控制律作用下的闭环系统是全局渐进稳定的;在Matlab环境下对不同条件和不同形式的控制律进行了仿真,给出了不同控制律下的控制系统性能指标,仿真结果表明设计的控制律对模型参数摄动和外界干扰具有较好的鲁棒性.     

Direct Optimization of Low-thrust Many-revolution Earth-orbit Transfers

Low-thrust Earth-orbit transfers with 10^?5-order thrust-to-weight ratios involve a large number of orbital revolutions which poses a real challenge to trajectory optimization. This article develops a direct method to optimize minimum-time low-thrust many-revolution Earth-orbit transfers. A parameterized control law in each orbit, in the form of the true optimal control, is proposed, and the time history of the parameters governing the control law is interpolated through a finite number of nodal values. The orbital averaging method is used to significantly reduce the computational workload and the trajectory optimization is conducted based on the orbital averaging dynamics expressed by nonsingular equinoctial elements. Furthermore, Earth's shadowing and perturbation effects are taken into account. The optimal transfer problem is thus converted to the parameter optimization problem that can be solved by nonlinear programming. Taking advantage of the mapping between the parameterized control law and the Lyapunov control law, a technique is proposed to acquire good initial guesses for optimization variables, which results in enlarged convergence domain of the direct optimization method. Numerical examples of optimal Earth-orbit transfers are presented.     

非光滑多体系统最大Lyapunov指数的计算方法

结合非光滑力学与非线性动力学的理论给出非光滑多体系统最大Lyapunov指数的数值计算方法.应用第一类Lagrange方法建立具有单边约束非光滑多体系统变拓扑结构动力学方程;应用线性互补理论与方法检测非光滑事件;应用混沌同步方法计算Lyapunov指数.在提高计算速度方面,提出了采用二分搜索法加快搜索速度以及采用调制参数方法加快系统达到同步状态的速度.通过算例说明本文算法的可行性与有效性.      

带有攻击角度控制的三维制导

在三维空间导引动力学与运动学模型的基础上,假设目标静止,而导弹本身以恒速运动,基于李雅普诺夫稳定性理论设计了三维导弹导引律。根据实际的攻击角与设定的攻击角误差,分析和设计了期望的视线角运动学,在此基础上,给出了带有攻击角度控制的三维导弹导引律。仿真结果证明了该方法的正确性和有效性。     

网络环境下具有扰动的线性时不变系统的变结构控制器设计

针对一类具有扰动的线性时不变网络控制系统中的网络诱导时延问题,设计了具有指数趋近律的滑模变结构控制器,并通过Lyapunov稳定性理论给出了具有扰动及时延的闭环网络控制系统的稳定性定理,最后通过仿真验证了此方法的鲁棒性、有效性。     

带可收缩挠性附件受控航天器稳定性分析

带可伸缩挠性附件受控航天器在附件收缩过程中可能因为收缩率设计不当导致系统不稳定,本文利用李亚普诺夫稳定性定理,推导出利用姿态角和姿态角速度反馈设计的PD控制律来实现可伸缩挠性附件在收缩过程稳定性控制的充分条件,对设计满足系统稳定性要求的收缩率和控制律具有指导意义。