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浙江大学学报(工学版)
浙江大学学报(工学版)  2022, Vol. 56 Issue (4): 833-842    DOI: 10.3785/j.issn.1008-973X.2022.04.024
航空航天技术     
考虑非线性模型不确定性的航天器自主交会控制
张科文1,2(),潘柏松1,2
1. 浙江工业大学 机械工程学院，浙江 杭州 310023
2. 浙江工业大学 特种装备制造与先进加工技术教育部重点实验室，浙江 杭州 310023
Control design of spacecraft autonomous rendezvous using nonlinear models with uncertainty
Ke-wen ZHANG1,2(),Bai-song PAN1,2
1. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
2. Key Laboratory of Special Purpose Equipment and Advanced Processing Technology, Ministry of Education, Zhejiang University of Technology, Hangzhou 310023, China
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摘要：

考虑航天器交会模型不确定性的问题，提出基于一般非线性相对运动方程的自适应控制策略. 针对复杂非线性系统中由外部扰动及目标星轨道参数引起的线性与非线性不确定性问题，通过自适应神经网络对模型结构进行参数化近似. 结合自适应反推技术和李雅普诺夫稳定方法进行自适应控制器设计，能够实现控制目标，保证所得闭环系统的渐近稳定性. 为了探究同时存在模型不确定性和输入约束的情况下航天器相对运动的自适应控制设计，提出辅助控制系统来分析和解决输入约束的影响. 针对相对运动提出的自适应控制策略保证了闭环系统的稳定性，使得模型未知参数的自适应估计满足最终一致有界性. 对不同案例分析比较的数值仿真结果验证了提出控制方法的有效性.
关键词： 航天器交会;  非线性模型;  不确定性;  神经网络;  自适应控制    
Abstract:

An adaptive control strategy based on the general nonlinear relative motion equation was proposed by considering the uncertainty of the spacecraft rendezvous model. A parameterization via adaptive neural networks was implemented for the linear and nonlinear uncertainties in the complex nonlinear system caused by the external disturbances and the orbital parameters of the target spacecraft. Both the backstepping technique and the Lyapunov method were utilized to achieve the control targets and guarantee the asymptotic stability of the resulting closed-loop system. An auxiliary control system was proposed to analyze the effect of input constraints in order to explore the adaptive control design of the spacecraft relative motion in the presence of both model uncertainty and input constraints. The adaptive control strategy proposed for relative motion ensured the stability of the closed-loop system, as well as the uniform ultimate boundedness of the adaptive estimation of the unknown parameters. The effectiveness of the proposed method was verified by the numerical results via the analysis and comparison of different cases.
Key words: spacecraft rendezvous    nonlinear model    uncertainty    neural network    adaptive control
收稿日期: 2021-05-08 出版日期: 2022-04-24
CLC:  V 448  
基金资助: 浙江省“尖兵” “领雁”研发攻关计划资助项目（2022C01026）；浙江工业大学独立研究项目（2018102007429）
作者简介: 张科文（1987—），女，讲师，从事动力学分析与控制方法设计、智能制造系统集成技术的研究. orcid.org/0000-0001-8507-9229.E-mail： kzhang2@zjut.edu.cn
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引用本文:

张科文,潘柏松. 考虑非线性模型不确定性的航天器自主交会控制[J]. 浙江大学学报(工学版), 2022, 56(4): 833-842.

Ke-wen ZHANG,Bai-song PAN. Control design of spacecraft autonomous rendezvous using nonlinear models with uncertainty. Journal of ZheJiang University (Engineering Science), 2022, 56(4): 833-842.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2022.04.024    或    https://www.zjujournals.com/eng/CN/Y2022/V56/I4/833

图 1  航天器交会对接
图 2  控制器设计框图
图 3  案例1：在没有不确定性和输入饱和下的仿真结果
图 4  案例2：具有参数不确定性情况的仿真结果
图 5  案例3：同时具有参数不确定性和输入饱和情况的仿真结果
图 6  存在饱和与不存在饱和时的控制输入对比
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