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饱和约束测量扩张状态滤波与无拖曳卫星位姿自抗扰控制

杨飞 谈树萍 薛文超 郭金 赵延龙

杨飞, 谈树萍, 薛文超, 郭金, 赵延龙. 饱和约束测量扩张状态滤波与无拖曳卫星位姿自抗扰控制. 自动化学报, 2020, 46(11): 2337−2349 doi: 10.16383/j.aas.c190515
引用本文: 杨飞, 谈树萍, 薛文超, 郭金, 赵延龙. 饱和约束测量扩张状态滤波与无拖曳卫星位姿自抗扰控制. 自动化学报, 2020, 46(11): 2337−2349 doi: 10.16383/j.aas.c190515
Yang Fei, Tan Shu-Ping, Xue Wen-Chao, Guo Jin, Zhao Yan-Long. Extended state filtering with saturation-constrainted observations and active disturbance rejection control of position and attitude for drag-free satellites. Acta Automatica Sinica, 2020, 46(11): 2337−2349 doi: 10.16383/j.aas.c190515
Citation: Yang Fei, Tan Shu-Ping, Xue Wen-Chao, Guo Jin, Zhao Yan-Long. Extended state filtering with saturation-constrainted observations and active disturbance rejection control of position and attitude for drag-free satellites. Acta Automatica Sinica, 2020, 46(11): 2337−2349 doi: 10.16383/j.aas.c190515

饱和约束测量扩张状态滤波与无拖曳卫星位姿自抗扰控制

doi: 10.16383/j.aas.c190515
基金项目: 国家重点研发计划(2018YFA0703800), 国家自然科学基金(61773054, 61633003-3)资助
详细信息
    作者简介:

    杨飞:北京科技大学硕士研究生. 主要研究方向为自抗扰控制理论及应用.E-mail: changeandbebetter@163. com

    谈树萍:北京控制工程研究所高级工程师. 主要研究方向为航天器控制理论与控制工程.E-mail: sptan@amss.ac.cn

    薛文超:中国科学院数学与系统科学研究院副研究员. 主要研究方向为非线性不确定系统控制与滤波, 自抗扰控制.E-mail: wenchaoxue@amss.ac.cn

    郭金:北京科技大学自动化学院教授. 主要研究方向为集值系统、信息物理系统的辨识与控制. 本文通信作者.E-mail: guojin@ustb.edu.cn

    赵延龙:中国科学院数学与系统科学研究院研究员. 主要研究方向为系统建模与辨识, 集值系统辨识与控制, 金融系统建模与分析.E-mail: ylzhao@amss.ac.cn

Extended State Filtering With Saturation-constrainted Observations and Active Disturbance Rejection Control of Position and Attitude for Drag-free Satellites

Funds: Supported by National Key R&D Program of China (2018YFA0703800) and National Natural Science Foundation of China (61773054, 61633003-3)
  • 摘要: 无拖曳卫星的本体姿态、卫星本体与测试质量间的相对位移及相对姿态的联合控制受到外部扰动、输入噪声、测量噪声及饱和约束、输入耦合以及状态耦合等因素的影响, 控制器的设计面临挑战. 本文采用基于扩张状态的卡尔曼滤波对系统状态和系统扰动进行实时估计, 引入自抗扰控制策略进行了控制器设计. 针对无拖曳控制子系统设计了测量饱和受限下的扩张状态估计算法, 并进行了信息融合. 在设计控制律时不仅考虑了对外部扰动的补偿, 还将系统状态间的耦合关系看成内部扰动进行补偿, 使得被控系统等价为“积分串联型系统”, 在此基础上实现了无拖曳卫星的联合控制. 数值仿真验证了方法的有效性和合理性.
  • 图  1  无拖曳卫星控制系统图

    Fig.  1  Diagram of drag-free satellite control system

    图  2  自抗扰控制器框图

    Fig.  2  Structure of active disturbance rejection controller

    图  3  饱和约束测量

    Fig.  3  Saturation-constrainted observations

    图  4  融合算法示意图

    Fig.  4  Diagram of the fusion algorithm

    图  5  算法2对扰动估计效果

    Fig.  5  Disturbance estimation performance of Algorithm 2

    图  6  位移/速度的估计效果: 算法1 vs. 算法2

    Fig.  6  Estimation of displacement/speed: Algorithm 1 vs. Algorithm 2

    图  7  扰动估计效果: 算法1 vs.算法2

    Fig.  7  Estimation of disturbance: Algorithm 1 vs. Algorithm 2

    图  8  扰动估计效果: 融合算法3 vs. 算法1

    Fig.  8  Estimation of disturbance: Algorithm 3 (fusion algorithm) vs. Algorithm 1

    图  9  X方向上控制效果对比

    Fig.  9  Comparison of control performance on X direction

    图  10  系统稳定运行时控制效果

    Fig.  10  Control performance when the system is running steadily

    图  11  姿态调整效果

    Fig.  11  Results of attitude adjustment

    图  12  测试质量残余加速度功率谱密度

    Fig.  12  Power spectral density of the test mass's residual acceleration

    表  1  ${ {\Upsilon}}$矩阵

    Table  1  The matrix of ${ {\Upsilon}}$

    X 方向 Y 方向 Z 方向
    $\left[ \; 1\;\;0\;\;0 \; \right]$ $\left[\; 0\;\;1\;\;0 \;\right]$ $\left[ \; 0\;\;0\;\;1 \;\right]$
    下载: 导出CSV

    表  2  系统仿真参数

    Table  2  System parameters in the simulation

    变量数值
    ${m_{{\rm{tm}}}}$1 kg
    ${m_{{\rm{sc}}}}$1 050 kg
    ${I_{{\rm{tm}}}}$$0.2667 \times {10^{ - 3} }{{I}_3}({\rm{kg} } \cdot { {\rm{m} }^{\rm{2} } })$
    ${I_{{\rm{sc}}}}$$\left[ {\begin{aligned}\;&{200}\;\;\;\;\;\;\;\;1\;\;\;\;\;\;\;\;\;2\\\;&\;\;1\;\;\;\;\;\;{2\;700}\;\;\;\;\;\;1\\ \;&\;\;2\;\;\;\;\;\;\;\;\; 1\;\;\; \;\;\;\;{2\;650} \end{aligned} } \right]({\rm{kg} } \cdot { {\rm{m} }^{\rm{2} } })$
    ${K_{{\rm{trans}}}}$$\left[ {\begin{aligned}\; & \;\;\;1\;\;\;\;\;\;\; {0.039}\;\;\;\;\;\; {0.039}\\\; &{0.039}\;\;\;\;\;\; \;1\;\;\;\;\;\;\;\;\; {0.039}\\\;&{0.039}\;\;\;\; {0.039}\;\;\;\; \;\;\;\;\;1 \end{aligned} } \right] \times {10^{ - 6} }{{\;({\rm{N}}/{\rm{m}})} }$
    ${D_{{\rm{trans}}}}$$1.4 \times {10^{ - 11} }{ {I}_3}\;({\rm{N} } \cdot {\rm{m} } \cdot {\rm{s/rad} })$
    ${K_{{\rm{rot}}}}$$\left[ {\begin{aligned} \;&\;1\;\;\;\;{10}\;\;{10}\\ \;&{10}\;\;\;\;1\;\;\;{10}\\\;&{10}\;\;\;{10}\;\;\;1 \end{aligned} } \right] \times {10^{ - 9} }\;({\rm{N} } \cdot {\rm{m/rad} })$
    ${D_{{\rm{rot}}}}$$1.4 \times {10^{ - 11} }{I_3}\;({\rm{N} } \cdot {\rm{m} } \cdot {\rm{s/rad} })$
    ${{{T}}_{Dsc}}$$\left[ {\begin{aligned} { - {\rm{12} }.{\rm{8 + 7} }.{\rm{7sin} }({\omega _d}{\rm{t} })}\\ { - {\rm{12} }.{\rm{8 + 7} }.{\rm{7sin} }({\omega _d}{\rm{ + } }\dfrac{ {2{\text{π} } } }{3})}\\ { - {\rm{12} }.{\rm{8 + 7} }.{\rm{7sin} }({\omega _d}{\rm{ + } }\dfrac{ {4{\text{π} } } }{3})} \end{aligned} } \right]({\rm{mN} } \cdot {\rm{m} })$
    ${{{F}}_{Dsc}}$$\left[ {\begin{aligned} { - {\rm{12} }.{\rm{8 + 7} }.{\rm{7sin} }({\omega _d}{\rm{t} })}\\ { - {\rm{12} }.{\rm{8 + 7} }.{\rm{7sin} }({\omega _d}{\rm{ + } }\dfrac{ {2{\text{π} } } }{3})}\\ { - {\rm{12} }.{\rm{8 + 7} }.{\rm{7sin} }({\omega _d}{\rm{ + } }\dfrac{ {4{\text{π} } } }{3})} \end{aligned} } \right]({\rm{mN} })$
    ${{{T}}_{Dtm}}$0
    $\omega_d$$1.2 \times {10^{ - 3}}\;{\rm{Hz}}$
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-07-05
  • 录用日期:  2019-12-08
  • 网络出版日期:  2020-01-17
  • 刊出日期:  2020-11-24

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