| Author Name | Affiliation | | Fuchenglong Zhao | Shenyang Institute of Automation, Chinese Academy of Sciences,Shenyang 110000,China
State Key Laboratory of Robotics, Chinese Academy of Sciences,Shenyang 110000,China
University of Chinese Academy of Sciences,Beijing 101408,China | | Junlin Li | Shenyang Institute of Automation, Chinese Academy of Sciences,Shenyang 110000,China
State Key Laboratory of Robotics, Chinese Academy of Sciences,Shenyang 110000,China |
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| Abstract: |
| An innovative design method is outlined in this paper for the pointing control mechanism of large space flexible antennas.This method focuses on enhancing the accuracy and stability that are crucial for large spacecraft applications, such as space solar power stations. Utilizing potential energy function analysis, the dynamics of the antenna are modeled, treating it as an equivalent n-joint robotic arm. This approach simulates the rigid-flexible coupling effect through joint angle manipulations. The proposed HJI(Hamilton-Jacobi-Inequality) sliding mode robust control integrates HJI principle, dissipative system theory, and sliding mode control, offering improved pointing accuracy and robustness. Simulation results underscore the superiority of HJI sliding mode robust control over traditional PD(proportional-derivative) control in initial response, precision, and control smoothness, albeit at the cost of higher control torque requirements. This research underscores the potential of HJI sliding mode robust control in facilitating precise pointing control for future large space structures, enabling efficient space missions and reliable energy transmission. |
| Key words: large exible antennas ground-pointing control strong nonlinearity sliding mode robust control Hamilton-Jacobi inequality |
| DOI：10.11916/j.issn.1005-9113.24053 |
| Clc Number:V443+.4,V448.2,V412.4+2,O231.2,TP273+.2 |
| Fund: |
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| Descriptions in Chinese: |
| 大型空间柔性天线指向控制机构控制方法设计 赵付成龙1,2,3, 李俊麟1,2 (1.中国科学院沈阳自动化研究所，沈阳110000； 2.中国科学院机器人学国家重点实验室，沈阳 110000； 3.中国科学院大学，北京 101408) 摘要:大型柔性天线在空间太阳能电站（SSPS）与地面之间的信息和能量传输中起着关键作用。这些天线以其庞大的尺寸、低基频和高面积质量比而著称，但由于其柔性和明显的非线性特性，引入了复杂的动力学和控制挑战。外部干扰引起的振动敏感性对天线的指向控制机制提出了严格要求。研究表明，提高SSPS发射天线的地面指向精度不仅可以提高经济效益，还可以减少因不必要的姿态调整而产生的燃料消耗，从而延长SSPS的轨道寿命。然而，传统的刚体建模无法准确捕捉天线指向控制机制的复杂性，也无法解决地面指向控制中固有的显著变形和非线性问题。本文提出一种针对大型柔性天线的刚柔耦合动力学模型，旨在为控制器提供目标姿态。为优化天线的指向控制机制，采用基于Hamilton-Jacobi不等式（HJI）的鲁棒滑模控制器，确保卓越的地面指向精度。随后，通过MATLAB Simulink仿真验证了所提控制器的有效性。 关键词：大型柔性天线；对地指向控制；强非线性；滑模鲁棒控制；哈密顿-雅可比不等式 |
