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清华大学学报(自然科学版)  2016, Vol. 56 Issue (1): 106-110    DOI: 10.16511/j.cnki.qhdxxb.2016.23.016
  计算机科学与技术 本期目录 | 过刊浏览 | 高级检索 |
航天器对接的全局渐近稳定控制
魏伟1, 左敏1, 苏婷立1, 杜军平2
1. 北京工商大学 计算机与信息工程学院, 北京 100048;
2. 北京邮电大学 计算机学院, 北京 100876
Global asymptotically stable control for spacecraft docking
WEI Wei1, ZUO Min1, SU Tingli1, DU Junping2
1. School of Computer and Information Engineering, Beijing Technology and Business University, Beijing 100048, China;
2. School of Computer Science, Beijing University of Posts and Telecommunications, Beijing 100876, China
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摘要 与基于推力器对接方式相比, 航天器电磁对接具有无推进剂消耗、无羽流污染、无对接冲击的优势。然而, 航天器对接固有的高度非线性、不确定性以及强耦合性极大地限制了航天器对接控制的性能。该文在远场电磁力模型及Hill模型组成的电磁对接动力学模型的基础上利用非线性变换将非线性电磁对接控制模型线性化, 设计全局稳定控制律; 基于Lyapunov函数获得了航天器电磁对接控制全局渐近稳定的充分条件。仿真结果证实了空间电磁对接控制的有效性。
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关键词 电磁对接非线性控制全局渐近稳定    
Abstract:Spacecraft docking with electromagnetic mechanism has obvious advantages over traditional docking methods, such as no propellant consuming, no plume contamination or docking impact. A dynamic model for electromagnetic docking was employed based on the far-field electromagnetic force model and Hill's model. High nonlinearity, uncertainty and coupling make docking control a challenging work. A transformation was utilized to linearize the nonlinear docking model with a control approach based on Lyapunov function designed for spacecraft docking. Sufficient conditions were obtained for global asymptotical stability with simulations being performed. Both theoretical and numerical results support the proposed control approach.
Key wordselectromagnetic docking    nonlinear control    global asymptotical stability
收稿日期: 2014-10-17      出版日期: 2016-01-29
ZTFLH:  TP1  
引用本文:   
魏伟, 左敏, 苏婷立, 杜军平. 航天器对接的全局渐近稳定控制[J]. 清华大学学报(自然科学版), 2016, 56(1): 106-110.
WEI Wei, ZUO Min, SU Tingli, DU Junping. Global asymptotically stable control for spacecraft docking. Journal of Tsinghua University(Science and Technology), 2016, 56(1): 106-110.
链接本文:  
http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2016.23.016  或          http://jst.tsinghuajournals.com/CN/Y2016/V56/I1/106
  图1 航天器相对运动示意图
  表1 系统参数、控制参数及期望轨迹
  图2 对接效果
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