| 引用本文: | 刘鲁华,汤国建,余梦伦.采用终端滑模控制实现交会对接逼近段姿态跟踪.[J].国防科技大学学报,2008,30(2):16-21.[点击复制] |
| LIU Luhua,TANG Guojian,YU Menglun.Space RVD Terminal Approach to Attitude Tracking by Terminal Sliding Mode Control[J].Journal of National University of Defense Technology,2008,30(2):16-21[点击复制] |
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| 采用终端滑模控制实现交会对接逼近段姿态跟踪 |
| 刘鲁华1, 汤国建1, 余梦伦2 |
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(1.国防科技大学 航天与材料工程学院，湖南 长沙 410073;2.中国运载火箭技术研究院，北京 100076)
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| 摘要: |
| 针对交会对接逼近段追踪器的姿态控制问题，采用反馈线性化理论推导了非线性姿态动力学方程的相变量模型。基于导出的姿控模型，引入模型误差和随机噪声，结合终端滑模控制理论，给出了能够在有限时间内完成姿态跟踪，并使状态跟踪误差收敛的控制律的设计方法。对具有扰动项的系统，仿真结果仍能满足交会任务对时间的要求，且姿态角跟踪误差趋于0，说明控制律对相变量系统的姿态跟踪控制具有较好的鲁棒性。 |
| 关键词: 交会对接 非线性 姿态控制 微分几何 终端滑模控制 |
| DOI： |
| 投稿日期：2007-08-17 |
| 基金项目: |
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| Space RVD Terminal Approach to Attitude Tracking by Terminal Sliding Mode Control |
| LIU Luhua1, TANG Guojian1, YU Menglun2 |
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(1.College of Aerospace and Materials Engineering, National Univ. of Defense Technology, Changsha 410073, China;2.China Academics of Launch Vehicle Technology, Beijing 100076，China)
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| Abstract: |
| For the attitude control problem of terminal approach phase of RVD, the feedback linear theory was adopted to linearize nonlinear attitude dynamics, and a phase-variable states space model was deduced. The terminal sliding mode control theory considering the disturbances was used on the basis of the deduced model. Furthermore, this paper introduces a controller which implements the attitude tracking and controls the states tracking errors convergent to zero in the finite time. For the example given, the control results satisfy the terminal time constrain and the tracking errors were convergent to zero, and this demonstrates that the controller is robust. |
| Keywords: rendezvous and docking(RVD) nonlinear attitude control geometric theory terminal sliding mode control |
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