欠驱动航天器相对运动的姿轨耦合控制.pdfVIP

第29 卷 第6 期 控 制 与 决 策 2014 年 6 月 Vol. 29 No. 6 Control and Decision Jun. 2014 文章编号: 1001-0920 (2014) 06-0969-10 DOI: 10.13195/j.kzyjc.2013.0463 欠驱动航天器相对运动的姿轨耦合控制 吴锦杰, 刘 昆, 韩大鹏, 张 峰 ( 国防科学技术大学航天科学与工程学院，长沙410073) 摘 要: 针对欠驱动的非对称航天器设计六自由度相对运动的姿轨耦合控制器. 首先, 给出用对偶四元数描述的六 自由度相对运动模型; 然后, 基于矩阵广义逆和空控制向量提出广义的滑模控制器, 以实现相对姿态欠驱动控制的渐 近稳定; 最后, 考虑姿轨耦合特性, 利用高斯伪谱法和非线性规划得到相对轨道运动能量最省的轨迹, 进而利用滑模 变结构控制实现对该轨迹的跟踪. 仿真结果表明, 所提出的方法是有效和可行的, 而且较其他方法消耗的能量更少. 关键词: 欠驱动航天器；六自由度相对运动；广义逆；滑模变结构控制；伪谱法；对偶四元数 中图分类号: V448.21 文献标志码: A Coupled attitude and orbit control for relative motion of underactuated spacecraft WU Jin-jie, LIU Kun, HAN Da-peng, ZHANG Feng (College of Aerospace Science and Engineering，National University of Defense Technology ，Changsha 410073，China. Correspondent ：WU Jin-jie ，E-mail ：wujinjie746@163.com) Abstract ：：：A coupled attitude and orbit controller is proposed for the six-degrees-of-freedom(6-DOF) relative motion of an underactuated and asymmetrical spacecraft. Firstly, by using dual quaternion, a 6-DOF relative motion model is introduced. Then, a generalized sliding mode controller is proposed to achieve the asymptotic stabilization of underactuated relative attitude motion based on the generalized inversion of the matrix and null control vector. Finally, considering the coupling effect of attitude and orbit, Gauss pseudospectral method and nonlinear programming are adopted to obtain a power optimal trajectory which is tracked with sliding variable structure control. The simulation results show that the proposed method is effective and feasible, and it consumes less power than other methods. Key wo