3D刚体摆姿态控制器智能优化方法毕设论文总结.doc

摘 要 3D刚体摆是地球静止轨道（Geostationary orbit-GEO）航天器的简化模型，它由一个支撑在固定支点的刚体组成，具有三个旋转自由度。该摆受重力、控制力和力矩的作用。针对3D刚体摆平衡位置处姿态控制问题采用了分层滑模控制方法。滑模变结构与其他控制方法不同之处在于，系统的“结构”不固定，根据系统当前状态，按照预定的“滑动模态”状态轨迹运动[11]。分层滑模控制器将系统状态分成两个子系统分别构造滑动平面，在保证第二层滑动平面渐进稳定条件下，采用Lyapunov方法来确定总控制量，该总控制量含有各个子系统的等效控制分量，从而保证各个子系统分别进入其各自的滑动平面，并沿滑动平面运动[12]。本文运用遗传算法和微粒群算法来优化分层滑模控制器的参数，降低调节时间和功耗，提高和改善控制系统的性能。 关键词：3D刚体摆；分层滑模控制器；微粒群算法；遗传算法 Abstract The 3D rigid pendulum is a simplfied model of Geostationary(GEO) spacecraft.The pendulum consists of a rigid body,supported at a fixed pivot,with three rotational degrees of freedom.The pendulum is acted on by a gravitational force and control forces and moments. Hierarchical sliding mode method is adopted when considering the attitude control of 3D rigid pendulum at equilibrium position.The sliding mode method is different from other control methods in that the structure of the system is not fixed and it moves along predetermined sliding mode state trajectory according to the current state of the system.This method divides the system into two subsystems, then Lyapunov methods are used to compute the total amount of control which contains two equivalent components, hence it can be guaranteed that each subsystem accesses into their own sliding plane and moves along the sliding plane. In this paper, genetic algorithms and particle swarm algorithms are used to optimize the parameters of the hierarchical sliding mode controller, reducing regulation time and power consumption, improving the performance of control systems. Keywords: 3D rigid pendulum; hierarchical sliding mode control；genetic algorithms; particle swarm algorithms 目录 摘 要 I Abstract II 第一章 概述 1 1.1 本课题研究意义 1 1.2 3D刚体摆研究现状 1 1.3 本论文的主要工作 2 1.4 本章小结 2 第二章3D刚体摆数学模型 3 2.1 3D刚体摆数学模型概述 3 2.2 3D刚体摆动力学方程约化 4 2.3本章小结 5 第三章 3D刚体摆的分层滑模控制 6 3.1滑模控制方法概述 6 3.2分层滑模控制器设计 6 3.3本章小结 8 第四章 基于遗传算法的参数优化 9 4.1遗传算法概述 9 4.2 确定遗传算法策略 11 4.2.1确定编码方案 11 4.2.2确定适应度函数 11 4.2.4确定遗传操作 12 4.3 遗传算法流程 13 4.4 遗传算法的参数优化仿真试验及分析