固体微推力器阵列的推力估计与分配补偿方法

针对固体微推力器阵列(SPMA)中微推力器一次性点火，推力测试中难以获得精确推力的特点，为实现推力在线估计和实时补偿，提出一种利用二次规划对微推力器阵列推力进行估计，同时结合混合整数规划算法进行推力分配的方法，对估计算法收敛性以及控制系统稳定性进行了分析。该方法在不修改控制律的前提下，对推力器推力进行在线估计，并采用推力分配的方法实时补偿推力器出现的推力偏差，对系统稳定性的分析证明该方法可以保证系统的有界稳定。将其应用到微纳卫星编队保持中，仿真结果表明，在微推力器阵列出现推力偏差的情况下，该方法能很好地补偿推力偏差对控制系统造成的影响。

Thrust Estimation and Allocation Compensation Method of Solid Propellant Micro Thrust Array

Considering the disposability and thrust inaccurateness of a solid propellant micro-thrust array (SPMA), a thrust allocation method of SPMA based on thrust estimation and mixed integer programming is proposed. The thrust estimation is implemented with quadratic programming. The online thrust estimation and boundness of the thrust allocation error are guaranteed. The convergence performance of the estimation algorithm and the stability of the control system are also analyzed. The thrust allocation method is used to solve the thrust uncertainty problem of the thruster without modifying the control law. The stability analysis proves the ultimate boundness of the control system. The simulation results show that the method can compensate the influence of the thrust deviation on the control system, and can be applied to the micro-satellite formation keeping.