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附着小天体的动态面鲁棒制导与控制方法

郑艺裕 崔祜涛 王晓芳

郑艺裕, 崔祜涛, 王晓芳. 附着小天体的动态面鲁棒制导与控制方法[J]. 深空探测学报, 2015, 2(2): 155-161. doi: 10.15982/j.issn.2095-7777.2015.02.009
引用本文: 郑艺裕, 崔祜涛, 王晓芳. 附着小天体的动态面鲁棒制导与控制方法[J]. 深空探测学报, 2015, 2(2): 155-161. doi: 10.15982/j.issn.2095-7777.2015.02.009
ZHENG Yiyu, CUI Hutao, WANG Xiaofang. Dynamic Surface Robust Guidance and Control for Landing on Asteroids[J]. Journal of Deep Space Exploration, 2015, 2(2): 155-161. doi: 10.15982/j.issn.2095-7777.2015.02.009
Citation: ZHENG Yiyu, CUI Hutao, WANG Xiaofang. Dynamic Surface Robust Guidance and Control for Landing on Asteroids[J]. Journal of Deep Space Exploration, 2015, 2(2): 155-161. doi: 10.15982/j.issn.2095-7777.2015.02.009

附着小天体的动态面鲁棒制导与控制方法

doi: 10.15982/j.issn.2095-7777.2015.02.009
基金项目: 国家重点基础研究发展计划项目(2012CB720005);国家自然科学基金(61174201)

Dynamic Surface Robust Guidance and Control for Landing on Asteroids

  • 摘要: 以精确附着小天体表面的任务为背景,提出一种基于扰动观测器(DOB) 和动态面控制的附着小天体的制导与控制方法。根据探测器的初始条件与终端着陆条件规划了标称轨迹,并将引力场建模误差、参数摄动和外部干扰等视为总扰动,结合动态面控制和DOB设计了标称轨迹跟踪控制器。分析总扰动估计误差的渐进收敛性以及闭环标称轨迹跟踪控制系统的稳定性,并确定控制器参数选取条件。数值仿真结果表明,所设计的DOB可以有效地估计并抑制总扰动且闭环标称轨迹跟踪控制系统具有良好的稳定性和控制精度。
  • [1] Kawaguchi J, Hashimoto T, Misu T, et al. An autonomous optical guidance and navigation around asteroids[J]. Acta Astronautica, 1999,44(5):267-280.
    [2] Huang X Y, Cui H T, Cui P Y. An autonomous optical navigation and guidance for soft landing on asteroids[J]. Acta Astronautica, 2004,54(10):763-771.
    [3] Li S, Cui P Y. Landmark tracking based autonomous navigation schemes for landing spacecraft on asteroids[J]. Acta Astronautica, 2008,62(6):391-403.
    [4] Colin R M, Gianmarco R. Line-of-sight guidance for descent to a minor solar system body[J]. Journal of Guidance, Control, and Dynamics, 1996,19(3):740-742.
    [5] 崔祜涛,史雪岩,崔平远,等.附着小行星的视线制导规律[J].空间科学学报,2002,22(3):256-260. [Cui H T, Shi X Y, Cui P Y, et al. Line-of-sight guidance for adhesion asteroid[J]. Chin J Space Sci, 2002,22(3):256-260.]
    [6] 崔祜涛,崔平远.软着陆小行星的自主导航与制导[J].宇航学报,2002,23(5):1-5. [Cui H T,Cui P Y. Autonomous navigation and guidance for soft-landing asteroid[J]. Journal of Astronautics, 2002,23(5):1-5.]
    [7] Li S, Cui P Y, Cui H T. Autonomous navigation and guidance for landing on asteroids[J]. Aerospace Science and Technology, 2005,10(3):239-247.
    [8] 崔平远,朱圣英,崔祜涛.小天体自主软着陆脉冲机动控制方法研究[J].宇航学报,2008(2):511-516. [Cui P Y, Zhu S Y, Cui H T. Autonomous impulse maneuver control method for soft landing in small bodies [J]. Journal of Astronautics, 2008(2):511-516.]
    [9] 高艾,崔平远,崔祜涛.基于约束规划的小天体接近段鲁棒制导控制方法[J].系统工程与电子技术,2012,34(5):989-995. [Gao A, Cui P Y, Cui H T. Robust guidance and control algorithms for small-body proximity operations based on constrained programming[J]. Systems Engineering and Electronics, 2012,34(5):989-995.]
    [10] Lan Q, Li S, Yang J, et al. Finite-time soft landing on asteroids using nonsingular terminal sliding mode control[J]. Transactions of the Institute of Measurement and Control, 2014,36(2):216-223.
    [11] Ohishi K, Nakao M, Ohnishi K, et al. Microprocessor-controlled DC motor for load-insensitive position servo system[J]. Industrial Electronics, IEEE Transactions on, 1987(1):44-49.
    [12] Yang J, Li S H, Chen X S, et al. Disturbance rejection of ball mill grinding circuits using DOB and MPC[J]. Powder Technology, 2010,198(2):219-228.
    [13] Chu Z Y, Sun FC, Cui J. Disturbance observer-based robust control of free-floating space manipulators[J]. Systems Journal, IEEE, 2008,2(1):114-119.
    [14] 王晓芳,郑艺裕,林海.基于扰动观测器的终端角约束滑模导引律 [J].系统工程与电子技术,2014,36(1):111-116. [Wang X F, Zheng Y Y, Lin H. Sliding mode guidance law with impact angle constraint based on disturbance observer[J]. Systems Engineering and Electronics, 2014,36(1):111-116.]
    [15] Wang X F, Zheng Y Y, Lin H. Missile formation controller design based on disturbance observer and finite-time control[J]. Journal of Beijing Institute of Technology, 2014,23(4):427-434.
    [16] Lin G, Masayoshi T. High-speed and high-precision motion control with an optimal hybrid feedforward controller[J]. Mechatronics, IEEE/ASME Transactions on, 1997,2(2):110-122.
    [17] Swaroop D, Hedrick J K, Yip P P, et al. Dynamic surface control for a class of nonlinear systems[J]. Automatic Control, IEEE Transactions on, 2000,45(10):1893-1899.
    [18] Youngjin C, Kwangjin Y, Wan K C, et al. On the robustness and performance of disturbance observers for second-order systems[J]. Automatic Control, IEEE Transactions on, 2003,48(2):315-320.
    [19] Kim B K, Chung W K. Unified analysis and design of robust disturbance attenuation algorithms using inherent structural equivalence[C]//American Control Conference. Proceedings of the 2001.[S.l.]: IEEE, 2001:4046-4051.
    [20] Zhang Z X, Wang W D, Li L T, et al. Robust sliding mode guidance and control for soft landing on small bodies[J]. Journal of the Franklin Institute, 2012,349(2):493-509.
    [21] 张振江,崔祜涛,任高峰.不规则形状小行星引力环境建模及球谐系数求取方法[J].航天器环境工程,2010,27(3):383-388. [Zhang Z J, Cui H T, Ren G F. Modeling for the gravitation potential environment of an irregular-shaped asteroid and the spherical harmonic coefficient estimation[J]. Spacecraft Environment Engineering, 2010,27(3):383-388.]
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  • 收稿日期:  2014-11-01
  • 修回日期:  2015-03-20

附着小天体的动态面鲁棒制导与控制方法

doi: 10.15982/j.issn.2095-7777.2015.02.009
    基金项目:  国家重点基础研究发展计划项目(2012CB720005);国家自然科学基金(61174201)

摘要: 以精确附着小天体表面的任务为背景,提出一种基于扰动观测器(DOB) 和动态面控制的附着小天体的制导与控制方法。根据探测器的初始条件与终端着陆条件规划了标称轨迹,并将引力场建模误差、参数摄动和外部干扰等视为总扰动,结合动态面控制和DOB设计了标称轨迹跟踪控制器。分析总扰动估计误差的渐进收敛性以及闭环标称轨迹跟踪控制系统的稳定性,并确定控制器参数选取条件。数值仿真结果表明,所设计的DOB可以有效地估计并抑制总扰动且闭环标称轨迹跟踪控制系统具有良好的稳定性和控制精度。

English Abstract

郑艺裕, 崔祜涛, 王晓芳. 附着小天体的动态面鲁棒制导与控制方法[J]. 深空探测学报, 2015, 2(2): 155-161. doi: 10.15982/j.issn.2095-7777.2015.02.009
引用本文: 郑艺裕, 崔祜涛, 王晓芳. 附着小天体的动态面鲁棒制导与控制方法[J]. 深空探测学报, 2015, 2(2): 155-161. doi: 10.15982/j.issn.2095-7777.2015.02.009
ZHENG Yiyu, CUI Hutao, WANG Xiaofang. Dynamic Surface Robust Guidance and Control for Landing on Asteroids[J]. Journal of Deep Space Exploration, 2015, 2(2): 155-161. doi: 10.15982/j.issn.2095-7777.2015.02.009
Citation: ZHENG Yiyu, CUI Hutao, WANG Xiaofang. Dynamic Surface Robust Guidance and Control for Landing on Asteroids[J]. Journal of Deep Space Exploration, 2015, 2(2): 155-161. doi: 10.15982/j.issn.2095-7777.2015.02.009
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