五轴控制型磁轴承动力学与控制

本文以五轴控制型磁轴承为研究对象，简要地介绍了它的工作原理，并给出了它的动力学方程。应用经典控制理论的设计方法建立了闭环控制系统，分析了它的稳定性，并通过计算机仿真给出了各自由度的阶跃响应曲线。     

推力矢量控制电动伺服机构的双模控制研究

针对推力矢量控制电动伺服机构控制器的可靠性与冗余设计问题,提出了一种基于有无位置传感器的双模控制器方案,分析了双模控制器的原理与无位置传感器运行模式下的转子位置检测技术,利用电机的反电动势过零点获取电机转子位置信息的方法,设计了分压电路、带通滤波器、比较器构成的反电动势过零检测电路,通过电动伺服机构平台的试验验证,表明采用双模控制器的电动伺服机构能独立工作或自动平滑切换工作,克服了单一工作模式的不足之处,节约了冗余设计的空间与成本。     

现代控制理论在复杂控制系统设计中的应用

简要介绍了现代控制理论的发展情况，详细论述了现代控制理论中几种控制方法在一些复杂控制系统设计中的应用。     

双通道控制旋转导弹舵面控制律研究

为解决导弹总体设计中亚跨速稳定性和超声速机动性不能兼顾的问题,对双通道控制旋转导弹舵面控制律进行了研究。分析了正弦、Bang-Bang、梯形和饱和正弦等控制律的原理与特点,给出了各自的等效舵偏角及其相应等效控制力的数学模型。采用基于两对舵面配合控制方式,给出了上述4种控制律的统一表示形式。讨论了两对舵配合控制方式的影响及工程可实现性,发现两对舵面相位差固定时,其等效控制力的方向由舵面1的相位决定,大小由其最大舵面偏角和特征函数决定,在工程中易实现;两对舵面相位差可变时,等效控制力的大小和方向需由控制舵1的相位和两对舵的相位差共同决定,考虑的变量更多,设计难度大,舵机系统复杂,难以实现小型化设计。仿真结果表明:采用基于两对舵面配合控制的旋转弹双通道控制方式,通过改变导弹舵面控制律,能有效提高导弹的操纵效率,在保证弹体静稳定性的同时增强导弹的机动能力,有效解决了传统旋转导弹总体设计中两者难以兼顾的难题。     

控制受限的编队航天器鲁棒自适应控制

研究了考虑控制受限的编队航天器鲁棒自适应轨道跟踪控制问题。针对航天器编队飞行系统中控制受限、外部扰动和模型不确定性的情况,利用反步控制方法和指令滤波设计提出了一种鲁棒自适应控制策略。指令滤波器用于补偿控制受限对于控制器的影响,同时设计了自适应律对未知参数进行估计,并且利用Lyapunov稳定性理论分析了闭环系统的渐近稳定性。和滑模控制等传统鲁棒控制不同,所设计的鲁棒自适应控制器是连续的,更便于航天器编队飞行系统的实现。仿真结果表明所设计的控制器既能实现高精度的编队飞行跟踪控制,又能保证控制受限的要求。     

涂装质量控制

简述了涂装质量重要性 ,对人员素质、涂料、设备、工艺、环境等方面如何进行质量控制 ,作了较系统的介绍     

遥测质量控制

质量控制在遥测设备研制历史上有较长的历史。遥测设备研制已经走过了五个阶段,达到了技术上先进,设计队伍成熟,技术成果丰富的程度。现正向高码率、微组装、微机控制方向发展。在我院型号研制的三十年历史上,遥测具有完全成功的记录。     

Stability and control of flexible satellites—II control

This is the second part of the investigation, the first part being “stability”. It is demonstrated that by monitoring the deformations of the flexible elements of a satellite, the effectiveness of the satellite control system can be increased considerably with the same given control system. A simple model of a flexible satellite was analyzed in the first part of this work. The same model is used here for digital computer simulations.     

Tether-platform coupled control

From the control point of view, tethered systems pose several challenges, the major one pertaining to the regulation of the unstable system dynamics during the retrieval phase. On the other hand, the system configuration permits design of controllers using length rate, tension and offset schemes, which are not feasible with other satellites. Here “offset” refers to the time dependent variation of the tether attachment point at the platform end. The present paper studies several applications of the offset scheme in controlling the tethered systems. To that end, planar equations of motion of a space platform based Tethered Satellite System (TSS) are derived by the Lagrangian procedure. This is followed by representative results aimed at the offset control of platform pitch, tether attitude and vibration motions. The offset scheme is used for simultaneous control of platform and tether pitch motion. Finally the attention is directed towards simultaneous regulation of the platform pitch and longitudinal tether vibration. The numerical results clearly show considerable promise for the offset control scheme in regulating tether, platform and combined tether-platform dynamics.     

High order optimal feedback control of space trajectories with bounded control

Optimal feedback control is classically based on linear approximations, whose accuracy drops off rapidly in highly nonlinear dynamics. Several nonlinear optimal feedback control strategies have appeared in recent years. Among them, differential algebraic techniques have been used to tackle nonlinearities by expanding the solution of the optimal control problem about a reference trajectory and reducing the computation of optimal feedback control laws to the evaluation of high order polynomials. However, the resulting high order method could not handle control saturation constraints, which remain a critical facet of nonlinear optimal feedback control. This work introduces the management of saturating actuators in the differential algebraic method. More specifically, the constraints are included in the optimal control problem formulation and differential algebra is used to expand the associated optimal bang–bang solution with respect to the initial and terminal conditions. Optimal feedback control laws for thrust direction and switching times are again computed by evaluating the resulting polynomials. Illustrative applications are presented in the frame of the optimal low-thrust transfer to asteroid 1996 FG₃.     

质量矩复合控制拦截器一体化制导控制方法

在建立质量矩复合控制拦截器制导控制一体化数学模型的基础上,利用微分几何策略对一体化制导控制系统进行了设计,给出了发动机期望控制力矩和滑块期望位置指令,并采用极点配置方法对反馈控制系数进行了设计。为保证系统具有能控性,对滑块质量和发动机稳态推力参数进行了设计。仿真结果表明,该方法能实现拦截器末段的制导控制,同时能降低对滑块执行机构的功率要求。     

载人航天器热控分系统噪声控制

随着载人航天器越来越复杂,热控分系统所用到的高速旋转设备越来越多,所产生的噪声将影响航天员的身体健康,因此载人航天器的噪声控制非常迫切。文章通过热控分系统的布局设计以及单机设备的降噪优化等措施,找到了有效降低整个载人航天器热控分系统噪声水平的方法,可供类似的载人航天项目的热控设计参考。     

Multi-objective output-feedback control for microsatellite attitude control: An LMI approach

Mixed H₂/H_∞ output-feedback controller with pole placement constraints against the internal uncertainty of moment-of-inertia variation and space environmental disturbances is proposed for mircosatellite attitude control. The multi-objective controller is designed based on linear model of attitude dynamics. The H_∞ performance takes into account both robustness stability against moments-of-inertia uncertainty and the disturbance rejection aspect. H₂ performance takes into account the LQG aspect which avoids the undesirable wheels’ saturation effect. In addition, the closed-loop poles can be forced into some sector of the stable half-plane to obtain well-damped transient responses. The problem is then reduced to a convex optimization involving linear matrix inequalities (LMIs), so it can be efficiently solved. The simulation results demonstrate that the presented mixed H₂/H_∞ control system is robust stable and optimal in the sense of H₂ norm, and has good steady-state and dynamic performances against the parameter uncertainties and various disturbances for the microsatellite attitude control system.     

Pointing control of spacecraft using two SGCMGs via LPV control theory

In this paper, we consider a pointing control of a spacecraft using two single-gimbal control moment gyros (SGCMGs). Our pointing control problem is to make the line-of-sight of a camera or an antenna that is fixed on a body axis aim along a desired direction. To solve this problem, we first state the control objective for the pointing control through the angular momentum conservation principle. Then, we develop a gain-scheduled (GS) controller via linear parameter-varying (LPV) control theory. Finally, the feasibility of the proposed control method is shown by a numerical simulation.     

基于滑模反演控制方法的纵向制导控制一体化设计

针对高速机动目标的末端拦截问题,研究了拦截弹的制导控制一体化设计算法。首先建立了纵向通道的制导控制一体化模型,利用非线性状态变换将其转换为易于控制算法设计的标准形式,并将目标机动干扰从不确定项中分离出来。然后考虑系统的非匹配不确定性,将滑模控制与反演控制相结合,设计了拦截弹的一体化控制算法。仿真结果验证了所设计算法的有效性和鲁棒性。     

采用平行构型变速控制力矩陀螺群的航天器姿态控制

研究了平行构型变速控制力矩陀螺群的控制律及其在航天器姿态控制中的应用。首先建立了以变速控制力矩陀螺为执行机构的航天器姿态动力学模型，并给出了全局渐近稳定的姿态反馈控制律。将每一对框架平行的陀螺作为独立的单元控制，引入了与控制力矩陀螺的框架运动相关的动坐标系，在此基础上给出了控制力矩陀螺的一种控制律。此控制律使陀螺群在奇异状态下仍具有可控性，并且力矩误差在动坐标系的某一方向始终为零，从而利用共轴的构型特点和陀螺转子的可变速性补偿控制力矩陀螺的力矩误差，使变速控制力矩陀螺群的输出力矩与期望的力矩相等。最后以双平行构型为例，对航天器的姿态稳定控制进行了数值仿真，并给出了一种控制力矩的分配方案。仿真结果证明了控制律算法的有效性。     

Singularity analysis and steering control laws for adaptive-skew pyramid-type control moment gyros

In contrast to past studies that have treated the skew angle as fixed in pyramid-type control moment gyro (CMG) systems, this paper treats the adaptive-skew pyramid-type CMG (ASCMG) system, in which the skew angle is one of the control variables for generating torques. The singular surfaces of the fixed-skew CMG are analyzed and visualized to illustrate how they depend on the skew angle, and the singular surfaces of the ASCMGs are also analyzed and visualized from a viewpoint of null motion for not only the gimbal angle but also the skew angle. The steering control laws are presented, and we numerically study their effectiveness for the reduction of settling time as compared to the fixed-skew pyramid-type CMGs.