一种挠性航天器的自适应姿态控制与振动控制

挠性航天器三轴姿态控制与振动控制需要处理复杂的姿态运动学耦合、动力学力矩耦合、挠性模态与刚体的动力学耦合，以及在轨航天器挠性附件的参数不确定等问题。基于频带分离方法分别设计了姿态控制器和振动控制器，其中的挠性附件振动对姿态的影响以时变干扰模型进行考虑。利用奇异摄动理论，设计了姿态控制器。该控制器由快速角速度环和慢速角度环两回路组成，采用具有较强抗干扰能力的积分型SDRE（State-Dependent Riccati Equation）控制器进行姿态指令跟踪。对于挠性振动，设计了独立模态控制的正位置反馈（PPF）控制器，通过对一阶控制器参数进行调节，使系统当存在结构不确定或参数变化的情况时仍能较好地收敛，保证了系统的鲁棒性。最后仿真表明了在干扰力矩下姿态的稳定性和振动的快速抑制。

Adaptive attitude control and active vibration control of the flexible spacecraft

In the attitude and vibration control of three-axis-stabilized flexible spacecraft,the problems of attitude kinematics coupling and torque coupling,dynamic coupling of flexible modes with rigid body,and parameter uncertainty caused by large flexible appendages should be dealt with. Based on 'bandwidth insulation method',attitude controller and vibration controller were designed independently. The influence of vibration on attitude was considered as a time-variant disturbance. The attitude controller consists of the fast angular velocity loop and the slow attitude angular loop in terms of singular perturbation theory. Further an integral state-dependent Riccati equation (SDRE) controller to resist strong disturbance was designed for the two loops. To control the flexible vibration,a positive position feedback (PPF) controller related to the independent modes was constructed,which ensures the robustness of the system for the uncertainties of the structure or the parameters. The simulation results show the good performance of the attitude stabilization in spite of the disturbance torque,and the fast decay of vibration.