RIGID AND LIQUID COUPLING DYNAMICS AND HYBRID CONTROL OF SPACECRAFT WITH MULTIPLE PROPELLANT TANKS
-
摘要: 采用复合控制方法对充液航天器的姿态和轨道机动进行高精度控制.通过傅里叶-贝塞尔级数展开法，将低重力环境下液体的弯曲自由表面的动态边界条件转化为简单的微分方程，其中耦合液体晃动方程的状态向量由相对势函数的模态坐标和波高的模态坐标组成.通过广义准坐标下的拉格朗日方程得到航天器刚体部分运动和液体燃料晃动的耦合动力学方程，提出了自适应快速终端滑模策略和输入整形技术相结合的复合控制器，并分别用于控制携带有一个燃料腔和四个燃料腔航天器的轨道机动和姿态机动.通过数值模拟来验证控制器的效率和精度.结果表明，对于多储液腔航天器，如果在设计航天器的姿态和轨道控制器时没有充分考虑燃料晃动效应，那么在受控航天器系统中将会出现刚-液-控耦合问题并导致航天器姿态不稳定.而本研究中的复合自适应终端滑模控制器可以实现航天器机动的高精度控制并有效抑制液体燃料晃动.
-
关键词:
- 液体晃动 /
- 多储液腔航天器 /
- 低重力环境 /
- 刚液控耦合动力学 /
- 终端自适应滑模控制器
Abstract: The compound control methods are widely used to control the orbit translation and attitude maneuver of liquidfilled spacecraft with high accuracy. The dynamic boundary conditions on curved liquid free surface under low-gravity environment are transformed to general simple differential equations by using Fourier-Bessel series expansion method and the state vectors of coupled liquid sloshing equations are composed by the modal coordinates of relative potential function and the modal coordinates of wave height. The coupled dynamic equations for the rigid platform motion and liquid fuel sloshing are obtained by means of Lagrange equations in terms of general quasi-coordinates. The expressions of the sloshing forces and moments are obtained by analyzing the liquid model. An adaptive fast terminal sliding mode controller and a composite controller that combines the adaptive fast terminal sliding mode strategy and the input shaping technology are respectively designed to control spacecraft orbit translation and attitude maneuver for two cases. In the first case, the spacecraft carries one partially liquid-filled propellant tank. In the second, the spacecraft carries four partially liquid-filled propellant tanks. The efficiency and the accuracy of the controllers are examined through numerical simulations. The results indicate that liquid-control-spacecraft coupled resonance can appear in the controlled spacecraft system if the sloshing effects have not been sufficiently taken accounted of during designing attitude and orbit controller for spacecraft with multiple propellant tanks, and this resonance will result in the instability of the spacecraft attitude. Nevertheless, such disadvantages have been efficiently inhibited by using presented composite adaptive terminal sliding mode controller. -
[1] Dodge FT. The new dynamic behavior of liquids in moving containers. NASA SP-106, Southwest Research Institute, San Antonio, TX, 2000 [2] Ibrahim RA. Liquid Sloshing Dynamics:Theory and Applications. Cambridge:Cambridge University Press, 2005 [3] Abramson HN. Dynamics of contained liquids:a personal odyssey. Applied Mechanics Review, 2003, 56(1):R1 doi: 10.1115/1.1511517 [4] Bang H, Lee JS, Eun YJ. Nonlinear attitude control for a rigid spacecraft by feedback linearization. KSME International Journal, 2004(18):203-210 http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.465.4217 [5] Jin E, Sun Z. Robust controllers design with finite time convergence for rigid spacecraft attitude tracking control. Aerospace Science and Technology, 2008(12):324-330 doi: 10.1061/%28ASCE%29AS.1943-5525.0000597 [6] Du H, Li S. Finite-time attitude stabilization for a spacecraft using homogeneous method. Journal of Guidance, Control and Dynamics, 2012, 35(3):740-749 doi: 10.2514/1.56262 [7] Zhu L, Yue B. Adaptive nonlinear dynamic inversion control for spacecraft attitude filled with fuel. Journal of Dynamics and Control, 2011, 9(4):321-325 https://www.researchgate.net/publication/266327302_Adaptive_nonlinear_dynamic_inversion_for_spacecraft_attitude_control_with_fuel_sloshing [8] Yang D, Yue B, Zhu L, et al. Analytical method of solving the small amplitude sloshing eigenfrequencies of liquid in cassini tanks. Transactions of Beijing Institute of Technology, 2011, 31(11):1273-1277 http://en.cnki.com.cn/Article_en/CJFDTOTAL-BJLG201111003.htm [9] Sidi MJ. Spacecraft Dynamics and Control. Cambridge:Cambridge University Press, 1997 [10] Yue BZ, Yan Y. Stability analysis of rigid-liquid-flexible coupling dynamics of spacecraft systems by using the energy-casimir method. Acta Scientiarum Naturalium Universitatis Pekinensis, 2016, 04:1-11 https://www.researchgate.net/publication/306306613_Stability_analysis_of_rigid-liquid-flexible_coupling_dynamics_of_spacecraft_systems_by_using_the_energy-Casimir_method [11] Deng ML, Yue BZ, Huang H. Study on the equivalent mechanical model for large amplitude slosh. Journal of Astronautics, 2016, 6: 631-638 [12] Song X, Yue BZ, Yan Y, et al. Hybrid control for attitude maneuver of liquid-filled spacecraft with multiple modal liquid sloshing. Journal of Astronautics, 2015, 7:819-825 [13] Wu WJ, Yue BZ, Huang H. Study on the rigid-liquid coupled dynamics for spacecraft with multiple partially liquid-filled cylindrical tanks. Journal of Astronautics, 2015, 6:648-660 https://www.researchgate.net/publication/282921155_Study_on_the_rigid-liquid_coupled_dynamics_for_spacecraft_with_multiple_partially_liquid-filled_cylindrical_tanks [14] Yue BZ, Wu WJ, Yan Y. Modeling and coupling dynamics of the spacecraft with multiple propellant tanks. AIAA Journal, 2016, 54(11):1-11 https://www.researchgate.net/publication/304067585_Modeling_and_Coupling_Dynamics_of_the_Spacecraft_with_Multiple_Propellant_Tanks [15] Wu WJ, Yue BZ. Low-gravity liquid sloshing in cylindrical tanks under pitching excitation. Chinese Journal of Theoretical and Applied Mechanics, 2014, 2:284-290 https://www.researchgate.net/publication/290078674_Low-gravity_liquid_sloshing_in_cylindrical_tanks_under_pitching_excitation [16] Yue B, Yang D, Wu W. Nonlinear coupled dynamics of liquid-filled cylindrical container in microgravity. Journal of Dynamics and Control, 2013, 11(4):306-313 http://en.cnki.com.cn/Article_en/CJFDTOTAL-DLXK201304004.htm [17] Yang D, Yue BZ. Research on sloshing in axisymmetrical containers under low gravity. Journal of Astronautics, 2013, 34(7):917-925 https://www.researchgate.net/publication/290321709_Research_on_sloshing_in_axisymmetrical_containers_under_low_gravity [18] Yang D, Yue BZ. Bifurcations of liquid sloshing in cylindrical containers in microgravity condition. Mechanics in Engineering, 2013, 35(2):29-34, 28 http://en.cnki.com.cn/Article_en/CJFDTOTAL-LXYS201302003.htm [19] Yue BZ, Song XJ. Advances in rigid-flexible-liquid-control coupling dynamics of spacecraft. Advances in Mechanics, 2013, 43(1):163-173 https://www.researchgate.net/publication/287307242_Advances_in_rigid-flexible-liquid-control_coupling_dynamics_of_spacecraft [20] Yue BZ, Yu D. Research on liquid sloshing characteristics in cassini container in micro-gravity environment. Journal of Dynamics and Control, 2012, 10(1):76-80 http://en.cnki.com.cn/Article_en/CJFDTotal-DLXK201201018.htm [21] Santo AG, Gold RE, Jr MN, et al. The MES-SENGER mission to Mercury:spacecraft and mission design. Planetary and Space Science, 2001, 49(14-15):1481-1500 doi: 10.1016/S0032-0633(01)00087-3 [22] Zhu Z, Xia Y, Fu M. Attitude stabilization of rigid spacecraft with finite-time convergence. International Journal of Robust and Nonlinear Control, 2011, 21:686-702 doi: 10.1002/rnc.v21.6 [23] Tiwari PM, Janardhanan S, Nabi MU. Rigid spacecraft attitude control using adaptive integral second order sliding mode. Aerospace Science and Technology, 2015, 42:50-57 doi: 10.1016/j.ast.2014.11.017 [24] Yue BZ, Zhu L. Hybrid control of liquid-filled spacecraft maneuvers by dynamic inversion and input shaping. AIAA Journal, 2014, 52: 618-626 doi: 10.2514/1.J052526 [25] Peterson LD, Crawley EF, Hansman RJ. Nonlinear fluid slosh coupled to the dynamics of a spacecraft. AIAA Journal, 1988, 27:1230-1240 https://www.researchgate.net/publication/23575282_Nonlinear_fluid_slosh_coupled_to_the_dynamics_of_a_spacecraft [26] Dodge FT, Garza LR. Experimental and theoretical studies of liquid sloshing at simulated low gravity. Journal of Applied Mechanics, 1967, 34:555-562 doi: 10.1115/1.3607743 [27] Meirovitch L. Methods of Analytical Dynamics. New York: McGraw-Hill, 1970 [28] Singer N, Seering W. Preshaping command inputs to reduce system vibration. Journal of Dynamics Systems, Measurement, and Control, 1990, 112:76-82 doi: 10.1115/1.2894142 [29] Singhose W, Seering W, Singer N. Residual vibration reduction using vector diagrams to generate shaped inputs. Journal of Mechanical Design, 1994, 116:654-659 doi: 10.1115/1.2919428 [30] Singhose W. Command shaping for flexible systems:a review of the first 50 years. International Journal of Precision Engineering and Manufacturing, 2009, 10:153-160 doi: 10.1007/s12541-009-0084-2 -
下载:
点击查看大图
图(6)
计量
- 文章访问数: 952
- HTML全文浏览量: 124
- PDF下载量: 694
- 被引次数: 0
