引用本文:靳尔东,孙兆伟.挠性航天器的非线性PID和PI姿态控制器设计[J].控制理论与应用,2009,26(5):540~545.[点击复制]
JIN Er-dong,SUN Zhao-wei.The design of nonlinear PID and PI attitude-controller for a flexible spacecraft[J].Control Theory and Technology,2009,26(5):540~545.[点击复制]
挠性航天器的非线性PID和PI姿态控制器设计
The design of nonlinear PID and PI attitude-controller for a flexible spacecraft
摘要点击 1978  全文点击 1810  投稿时间：2007-05-08  修订日期：2008-09-19
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DOI编号  10.7641/j.issn.1000-8152.2009.5.013
  2009,26(5):540-545
中文关键词  挠性航天器  姿态控制  非线性PID/PI  奇异扰动  半全局稳定
英文关键词  flexible spacecraft  attitude control  nonlinear PID/PI  singular perturbation  semiglobal stability
基金项目  国家高技术研究发展计划(863计划)资助项目(2006AA701412).
作者单位E-mail
靳尔东 哈尔滨工业大学 航天学院卫星技术研究所, 黑龙江 哈尔滨 150080 jined@hit.edu.cn 
孙兆伟 哈尔滨工业大学 航天学院卫星技术研究所, 黑龙江 哈尔滨 150080 sunzhaowei@vip.sina.com 
中文摘要
      针对存在模型不确性和常值干扰的挠性航天器, 提出一种不依赖于模型参数的非线性PID姿态控制器. 该控制器在小姿态偏差的情况下近似经典的线性PID控制器. 另外, 考虑到航天器上陀螺失效情况, 设计了一种仅需姿态测量信息的非线性PI控制器. 这两种控制器在局部均对常值干扰有抑制作用, 并能使无干扰作用的姿态控制系统半全局渐近稳定. 闭环系统的稳定性证明采用了奇异扰动理论, 以解决积分项的存在带来的稳定性分析问题. 文章最后用数学仿真验证了控制器的性能.
英文摘要
      A model-independent nonlinear PID attitude-controller is proposed for a flexible spacecraft with model uncertainties and constant disturbances. This controller approximates to a classical linear PID controller when the attitude error is small. In addition, a nonlinear PI controller which only requires attitude measurement is also designed for the case of gyros failure. Both of the proposed controllers exhibit the disturbances rejection properties in a local region, and render the attitude control system semi-globally stable in the case of no disturbance. To solve the stability analysis problem arising from the integral term, we employ the singular perturbation theory to analyze the stability of the resulting closed-loop system. Finally, numerical simulations are included to demonstrate the performance of the presented controllers.