摘要
针对具有开环树状拓扑结构的柔性多体航天器,基于真-伪坐标形式的拉格朗日方程,建立柔性多体航天器的动力学模型,充分考虑了柔性航天器的时变与不确定性的动力学特征,设计了改进的变论域分形模糊控制器,并对该系统进行了仿真验证.仿真结果表明,该方案回避了实时计算收缩因子所导致的论域范围实时收缩的缺点,实现了对柔性多体航天器大角度姿态机动的有效控制,同时保证了航天器柔性附件振动的有效抑制.
The dynamic model of flexible multi-body spacecraft with topological tree configuration has been established based on the Lagrange＇s equations in terms of quasi-coordinates. The kinematics of the spacecraft is described by Modified Rodrigues Parameters （MRPs）. For this time-varing uncertainty flexible multi-body spacecraft dynamic system, a modified fractal controller via variable universe of discourse was designed and the numerical simulation was done. The results show that this control scheme avoids the flaw caused by real-time calculating of shrinkable factors, realizes the effective control of flexible multi-body spacecraft for large angte attitude maneuver, and assures the vibration suppression of the spacecraft flexible appendages at the same time
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2011年第11期136-140,共5页
Journal of Harbin Institute of Technology
基金
国家自然科学基金资助项目(10872028)
关键词
航天器制导与控制
柔性多体航天器
大角度姿态机动
变论域
分形控制
spacecraft guidance and control
flexible multi-body spacecraft
large angle attitude maneuver
variable universe of discourse
fractal control
