Sun Liang, Huo Wei, Jiao Zongxia
The Seventh Research Division, Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Xueyuan Road No. 37, Haidian District, Beijing 100191, PR China.
The Seventh Research Division, Science and Technology on Aircraft Control Laboratory, School of Automation Science and Electrical Engineering, Beihang University, Xueyuan Road No. 37, Haidian District, Beijing 100191, PR China.
ISA Trans. 2016 Jul;63:11-19. doi: 10.1016/j.isatra.2016.02.022. Epub 2016 Mar 15.
This paper provides new results of the dynamical modeling and controller designing for autonomous close proximity phase during rendezvous and docking in the presence of kinematic couplings and model uncertainties. A globally defined relative motion mechanical model for close proximity operations is introduced firstly. Then, in spite of the kinematic couplings and thrust misalignment between relative rotation and relative translation, robust adaptive relative position and relative attitude controllers are designed successively. Finally, stability of the overall system is proved that the relative position and relative attitude are uniformly ultimately bounded, and the size of the ultimate bound can be regulated small enough by control system parameters. Performance of the controlled overall system is demonstrated via a representative numerical example.
本文给出了在存在运动学耦合和模型不确定性的交会对接自主近距离阶段的动力学建模和控制器设计的新成果。首先介绍了一种用于近距离操作的全局定义的相对运动力学模型。然后，尽管存在相对旋转和相对平移之间的运动学耦合以及推力失准，仍相继设计了鲁棒自适应相对位置和相对姿态控制器。最后，证明了整个系统的稳定性，即相对位置和相对姿态是一致最终有界的，并且最终界的大小可以通过控制系统参数调节得足够小。通过一个具有代表性的数值例子展示了受控整个系统的性能。
