论文部分内容阅读
空间交会停靠控制方法经常采用的一种是基于视线位置信息的平行接近法。在ρ-ρ相平面内,定义开关线为S=ρ~2-λ~2ρ,也可以称为滑动模态,采用发动机开关控制为:u=-Fsgn(S),研究了这种控制方法后,发现在开关线上,系统不是渐进稳定的。本文在研究了这种控制方法后,对滑动模态的表达式进行了改进,增加了阻尼项,改进后的滑动模态为:S=ρ~2+k_1ρ+k_2ρ,k_1、k_2的符号待定,并对改进后的滑动模态控制进行了稳定性证明,证明了系统在滑动模态上也是渐进稳定的。
Space rendezvous and docking control method is often used one is based on the location of the line of sight of the parallel approach. In the ρ-ρ phase plane, the switch line is defined as S = ρ ~ 2 -λ ~ 2ρ, which can also be called as sliding mode. The engine switch is controlled by u = -Fsgn (S) After that, it is found that the system is not asymptotically stable on the switch line. After studying this control method, the expression of sliding mode is improved and the damping term is added. The improved sliding mode is: S = ρ ~ 2 + k_1ρ + k_2ρ, symbols of k_1, k_2 are to be determined , And the stability of the improved sliding mode control is proved. It is also proved that the system is also asymptotically stable in the sliding mode.