摘要针对大角度姿态机动的挠性航天器，将基于“管道”(Tube)的模型预测控制(Tube-based model predictive control，Tube-MPC)应用于挠性航天器的姿态控制中。首先，对不考虑扰动的挠性航天器的标称系统设计模型预测控制律，求解模型预测控制问题以确定飞行姿态角的标称轨迹。然后，针对带有扰动的挠性航天器的实际系统，将挠性附件振动和外部扰动作为复合扰动，设计辅助控制器使实际系统状态处于以标称轨迹为中心的Tube不变集内，驱使实际系统状态到达标称轨迹上，并沿着标称轨迹最终收敛于原点。基于Tube的模型预测姿态控制器在满足控制输入约束条件下能有效处理扰动，从而实现对姿态角指令的有效跟踪。同时，针对姿态机动过程引起的挠性附件振动，采用压电智能材料，设计了全阶滑模主动振动控制器。全阶滑模控制器可有效减少抖振，从而使挠性振动模态能够在有限时间内快速衰减。仿真结果表明，所设计的基于Tube的模型预测姿态控制器与全阶滑模主动振动控制器能有效地抑制挠性附件的振动和外界扰动，对姿态角指令有较好的跟踪性能。
关键词：挠性航天器；模型预测控制；滑模控制；姿态控制；主动振动控制
Abstract：Considering the large angle attitude maneuvering, a Tube-based model predictive control (Tube-MPC) scheme is applied to the attitude control of flexible spacecraft. The model predictive control law is designed for the nominal system without considering disturbance. The nominal trajectory of flight attitude angle is generated by a nominal optimal control problem. For the flexible spacecraft, the flexible appendage vibration and external disturbance are regarded as compound disturbances. The auxiliary controller is presented which can drive the system state into the Tube invariant set around nominal trajectory, steer the system state toward the nominal trajectory and finally converges to the origin along the nominal trajectory. The Tube-based model predictive attitude controller can effectively deal with disturbances and the control input constraints are satisfied. Thus, the attitude angle command can be tracked precisely. At the same time, considering the vibration of the flexible appendages caused by the attitude maneuvering process, a full-order sliding mode active vibration controller is designed based on piezoelectric smart materials. The full-order sliding mode controller can effectively reduce chattering, so that the flexible vibration mode can be rapidly attenuate in the finite time. The simulation results show that the designed Tube-based model predictive attitude controller and full-order sliding mode active vibration controller can successfully suppress the vibration of the flexible appendages, and have better tracking performance for the attitude angle command.
Key words: flexible spacecraft; model predictive control; sliding mode control; attitude control; active vibration control
管萍，吴希岩，戈新生. 基于Tube的挠性航天器模型预测姿态控制及主动振动控制[J]. 振动与冲击, 2022, 41(16): 261-270.
GUAN Ping, WU Xiyan, GE Xinsheng. Tube-based model predictive attitude control and active vibration control for flexible spacecraft. JOURNAL OF VIBRATION AND SHOCK, 2022, 41(16): 261-270.
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