|
|
论文:2012,Vol:30,Issue(3):314-319 |
|
|
引用本文： |
|
|
陈诗瑜, 袁建平, 方群. 一种有效的中性浮力下实验体姿态机动模拟控制律设计[J]. 西北工业大学 |
|
|
Chen Shiyu, Yuan Jianping, Fang Qun. An Effective Method for Designing Attitude Maneuver Analog Control Law with Neutral Buoyancy for Experimental Model[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 一种有效的中性浮力下实验体姿态机动模拟控制律设计 |
|
| 陈诗瑜, 袁建平, 方群 |
|
| 西北工业大学 航天学院,陕西 西安 710072 |
| 摘要: |
| 在空间微重力环境的地面模拟技术中,中性浮力法利用水的浮力使实验体处于漂浮状态,可以提供六自由度运动模拟,并且可进行长时间的与空间十分相似的自由运动。因此可以采用该方法实现空间飞行器空间任务的地面模拟演示和功能验证。姿态控制作为空间任务的基本操作之一,其在中性浮力实验环境下的控制模拟非常重要,需要针对复杂的水下环境进行设计。目前针对水下航行器的研究非常广泛,但是专门针对中性浮力环境下空间任务模拟的研究并不多,缺少理论验证与仿真。本文针对中性浮力环境下实验体姿态机动模拟控制律设计问题进行研究。首先根据流体力学和动量矩定理推导出实验体的姿态动力学方程,根据四元数与角速度的关系得到实验体的姿态运动学方程;然后在理想状态下基于动力学方程,使用Lyapunov方法设计实验体的姿态机动模拟控制律,并证明了闭环系统的渐进稳定性;最后通过仿真验证了控制算法的性能,为中性浮力环境下实验体姿态机动模拟提供理论基础。 |
| 关键词:
姿态机动模拟
实验体
微重力
中性浮力
|
|
| An Effective Method for Designing Attitude Maneuver Analog Control Law with Neutral Buoyancy for Experimental Model |
|
| Chen Shiyu, Yuan Jianping, Fang Qun |
|
| College of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China |
| Abstract: |
| In the ground simulation technology of space microgravity environment, by using water buoyancy to keepfloating, neutral buoyancy can make a 6-DOF free motion with longtime and space similarity. The analog control withneutral buoyancy should be designed for complex underwater environment. In our opinion, theoretical validation andsimulation for space missions with neutral buoyancy appear to be quite inadequate. Section 2 of the full paper ex-plains the design method mentioned in the title, which we believe is effective and whose core consists of: "First,de-rive the equation of attitude dynamics based on hydrodynamics and moment of momentum theorem and derive the e-quation of attitude kinematics based on the relationship of quaternion and angular velocity. And then, on the basis ofthe dynamical equation under the perfect state, the attitude maneuver control law is designed by the Lyapunov ap-proach, following a proof of asymptotic stability of the closed loop system. "Finally, simulation results, presented inFigs. 4 through 8 and Table 1, and their analysis show preliminarily that our design method is indeed effective. |
| Key words:
attitude maneuver analog
efficiency
experimental model
microgravity
neutral buoyancy
|
|
| 收稿日期: 2011-06-12
修回日期:
|
| DOI: |
| 基金项目: 国家863高科技计划(2011AA0495)资助 |
| 通讯作者:
Email： |
| 作者简介: 陈诗瑜(1987-),女,西北工业大学博士研究生,主要从事飞行器控制的研究。
|
|
| 相关功能 |
|
|
|
|
| 作者相关文章 |
|
| 陈诗瑜 在本刊中的所有文章 |
| 袁建平 在本刊中的所有文章 |
| 方群 在本刊中的所有文章 |
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] 冯庆义，李俊峰，王天舒.气动壳体结构中性浮力模拟失重动力学分析研究.航天医学与医学工程，2005，18(3):182-185Feng Qingyi，Li Junfeng，Wang Tianshu.Study on Weightlessness Dynamics Simulated by Neutral Bouyancy in Air-DrivenShell.Space Medicine ＆ Medical Engineering，2005，18(3): 182-185 (in Chinese)
[2] 严卫生.鱼雷航行力学.西北工业大学出版社，2005
[3] Lv Chong，Pang Yongjie，Zhang Lei.Improved PD Controller for AUV Based on MPSO.International Asia Conference on Infor-matics in Control，Automation and Robotics，2009，24-28
[4] 边宇枢，高志慧，贠 超.六自由度水下机器人动力学分析与运动控制.机械工程学报，2007，43(7): 87-91Bian Yushu，Gao Zhihui，Yun Chao.Dynamic Analysis and Motion Control of 6-DOF Underwater Robot.Chinese Journal ofMechanical Engineering，2007，43(7): 87-91 (in Chinese)
[5] 徐世杰.基于 Lyapunov 方法的空间飞行器大角度姿态机动控制.宇航学报，2001，22(4): 95-99Xu Shijie.Large Angle Attitude Maneuver Control of Spacecraft Based on Lyapunov Approach.Journal of Astronautics，2001，22(4): 95-99 (in Chinese)
[6] 张景瑞，荆武兴，徐世杰.空间飞行器大角度姿态跟踪机动问题研究.飞行力学，1999，17(3): 86-91Zhang Jingrui，Jing Wuxing，Xu Shijie.The Research on High Attitude Tracking Maneuver of Spacecraft.Flight Dynamics，1999，17(3): 86-91 (in Chinese)
[7] 侯 巍，王树新，张海根.小型水下自航行器动力学建模与控制.天津大学学报，2004，37(9): 769-773Hou Wei，Wang Shuxin，Zhang Haigen.Dynamic Modeling and Control for Miniature Autonomous Underwater Vehicle.Journalof Tianjin University，2004，37(9): 769-773 (in Chinese) |
|
|
|
|
|
|
|
