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                    飽和約束測量擴張狀態濾波與無拖曳衛星位姿自抗擾控制

                    楊飛 談樹萍 薛文超 郭金 趙延龍

                    楊飛, 談樹萍, 薛文超, 郭金, 趙延龍. 飽和約束測量擴張狀態濾波與無拖曳衛星位姿自抗擾控制. 自動化學報, 2020, 46(11): 2337?2349 doi: 10.16383/j.aas.c190515
                    引用本文: 楊飛, 談樹萍, 薛文超, 郭金, 趙延龍. 飽和約束測量擴張狀態濾波與無拖曳衛星位姿自抗擾控制. 自動化學報, 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

                    飽和約束測量擴張狀態濾波與無拖曳衛星位姿自抗擾控制

                    doi: 10.16383/j.aas.c190515
                    基金項目: 國家重點研發計劃(2018YFA0703800), 國家自然科學基金(61773054, 61633003-3)資助
                    詳細信息
                      作者簡介:

                      楊飛:北京科技大學碩士研究生. 主要研究方向為自抗擾控制理論及應用.E-mail: changeandbebetter@163. com

                      談樹萍:北京控制工程研究所高級工程師. 主要研究方向為航天器控制理論與控制工程.E-mail: sptan@amss.ac.cn

                      薛文超:中國科學院數學與系統科學研究院副研究員. 主要研究方向為非線性不確定系統控制與濾波, 自抗擾控制.E-mail: wenchaoxue@amss.ac.cn

                      郭金:北京科技大學自動化學院教授. 主要研究方向為集值系統、信息物理系統的辨識與控制. 本文通信作者.E-mail: guojin@ustb.edu.cn

                      趙延龍:中國科學院數學與系統科學研究院研究員. 主要研究方向為系統建模與辨識, 集值系統辨識與控制, 金融系統建模與分析.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: 無拖曳衛星的本體姿態、衛星本體與測試質量間的相對位移及相對姿態的聯合控制受到外部擾動、輸入噪聲、測量噪聲及飽和約束、輸入耦合以及狀態耦合等因素的影響, 控制器的設計面臨挑戰. 本文采用基于擴張狀態的卡爾曼濾波對系統狀態和系統擾動進行實時估計, 引入自抗擾控制策略進行了控制器設計. 針對無拖曳控制子系統設計了測量飽和受限下的擴張狀態估計算法, 并進行了信息融合. 在設計控制律時不僅考慮了對外部擾動的補償, 還將系統狀態間的耦合關系看成內部擾動進行補償, 使得被控系統等價為“積分串聯型系統”, 在此基礎上實現了無拖曳衛星的聯合控制. 數值仿真驗證了方法的有效性和合理性.
                    • 圖  1  無拖曳衛星控制系統圖

                      Fig.  1  Diagram of drag-free satellite control system

                      圖  2  自抗擾控制器框圖

                      Fig.  2  Structure of active disturbance rejection controller

                      圖  3  飽和約束測量

                      Fig.  3  Saturation-constrainted observations

                      圖  4  融合算法示意圖

                      Fig.  4  Diagram of the fusion algorithm

                      圖  5  算法2對擾動估計效果

                      Fig.  5  Disturbance estimation performance of Algorithm 2

                      圖  6  位移/速度的估計效果: 算法1 vs. 算法2

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

                      圖  7  擾動估計效果: 算法1 vs.算法2

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

                      圖  8  擾動估計效果: 融合算法3 vs. 算法1

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

                      圖  9  X方向上控制效果對比

                      Fig.  9  Comparison of control performance on X direction

                      圖  10  系統穩定運行時控制效果

                      Fig.  10  Control performance when the system is running steadily

                      圖  11  姿態調整效果

                      Fig.  11  Results of attitude adjustment

                      圖  12  測試質量殘余加速度功率譜密度

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

                      表  1  ${ {\Upsilon}}$矩陣

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

                      X 方向 Y 方向 Z 方向
                      $\left[ \; 1\;\;0\;\;0 \; \right]$ $\left[\; 0\;\;1\;\;0 \;\right]$ $\left[ \; 0\;\;0\;\;1 \;\right]$
                      下載: 導出CSV

                      表  2  系統仿真參數

                      Table  2  System parameters in the simulation

                      變量數值
                      ${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}}$
                      下載: 導出CSV
                      360彩票
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