充液航天器等效模型参数在轨辨识研究
ON-ORBIT IDENTIFICATION STUDY OF EQUIVALENT MODEL PARAMETERS OF LIQUID-FILLED SPACECRAFT
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摘要: 现代航天器通常携带大量的液体推进剂, 在轨运行时推进剂的消耗将导致等效模型参数的改变. 为了获取准确的等效模型参数并将其引入GNC系统闭环控制, 提高航天器的姿态控制精度, 本文提出一种基于平方根容积卡尔曼滤波(SR-CKF)的等效模型参数在轨辨识策略. 首先, 为了建立适用于金属膜片贮箱的等效模型, 在等效球摆模型的悬挂点施加扭簧-阻尼器以等效金属膜片对推进剂的刚度-阻尼效应, 并借助Kane方法建立了航天器刚-液耦合动力学方程. 其次, 针对状态反馈反步控制器中等效模型参数未知的情形, 提出一种基于SR-CKF的等效模型参数在轨辨识策略. 该策略可在航天器完成一次大角度姿态机动任务的同时, 根据星载角速度计数据在线辨识出等效模型的各项参数以及贮箱内推进剂的剩余量, 并预测出推进剂的分布运动状态. 最后, 数值仿真结果表明本文提出的在轨辨识策略的有效性和必要性. 本文的工作对于航天器GNC系统中等效模型的校准迭代、研究推进剂在轨晃动行为、预测航天器服役年限具有重要参考价值.Abstract: Modern spacecraft usually carry a large amount of liquid propellant. The consumption of propellant leads to the change of the equivalent model parameters used for propellant sloshing modeling. In order to obtain the accurate equivalent model parameters and introduce them into the closed-loop control of GNC system to improve the attitude control accuracy of spacecraft, this paper proposes an on-orbit identification strategy for equivalent model parameters based on Square Root Cubature Kalman filter (SR-CKF). Firstly, in order to establish an equivalent model applicable to the metal diaphragm tank, a torsion spring-damper is applied at the suspension point of the equivalent spherical pendulum model to equate the stiffness-damping effect of the metal diaphragm on the propellant, and the spacecraft rigid-liquid coupled dynamic equations are established with the help of Kane's method. Secondly, a SR-CKF based on-orbit identification strategy of the equivalent model parameters is proposed for the situation where the equivalent model parameters are unknown in the state feedback backstepping controller. This strategy can identify the parameters of the equivalent model and the remaining amount of propellant in the tank and predict the propellant distribution motion state online according to the on-board angular velocity sensor data while the spacecraft completes a large-angle attitude maneuver mission. Finally, the numerical simulation results demonstrate the effectiveness and necessity of the on-orbit identification strategy proposed in this paper. This work has important reference value for the calibration iteration of the equivalent model in the GNC system of spacecraft, the study of the on-orbit sloshing behavior of propellants, and the prediction of service life of spacecraft.