中国科技核心期刊

中文核心期刊

CSCD来源期刊

空间控制技术与应用 ›› 2017, Vol. 43 ›› Issue (6): 25-31.doi: 10.3969/j.issn.1674-1579.2017.06.005

• 学术研究 • 上一篇    下一篇

基于自适应的月球着陆器悬停避障方法

胡锦昌,张洪华,李毛毛   

  1. (1.北京控制工程研究所,北京 100190; 2.空间智能控制技术重点实验室,北京 100190)
  • 收稿日期:2017-05-08 出版日期:2017-12-20 发布日期:2018-01-03
  • 作者简介:作者简介:胡锦昌(1984—),男,高级工程师,研究方向为航天器姿态控制、非线性系统控制;张洪华(1963—),男,研究员,研究方向为深空探测导航、制导与控制,非线性系统控制等;李毛毛(1990—),男,博士研究生,研究方向为航天器导航、制导与控制.
  • 基金资助:

    *国家青年自然科学基金资助项目(61403031).

Hovering and Avoidance Method of Lunar Landers Based on Adaptive Control

 HU  Jin-Chang, ZHANG  Hong-Hua, LI  Mao-Mao   

  1. (1.Beijing Institute of Control Engineering, Beijing 100190, China; 2.Science and Technology on Space Intelligent Control Laboratory, Beijing 100190, China)
  • Received:2017-05-08 Online:2017-12-20 Published:2018-01-03

摘要: 摘要: 考虑质量和推力不确定性,月球着陆器在悬停避障时将难以快速稳定到设计高度.为解决此问题,提出一种基于自适应的高精度悬停避障方法,其核心是利用位置测量作为观测器的输入,对质量和推力不确定性进行快速估计和补偿.与基于PID的方案相比,该方案具有估计速度更快的优点,能够快速实现高精度的悬停避障控制.最后对所提方法给出仿真验证.  

关键词: 关键词: 月球着陆, 悬停避障, 质量和推力不确定性;浸入与不变流形

Abstract: Abstract:When mass and force uncertainties are taken into account, it will be difficult for lunar landers to hover on the designed height. To address this problem, we propose a new method for hovering and avoidance which is based on adaption.The core idea is to employ the position as the input of the observer for estimating and compensating the uncertainties. Compared with conventional PID methods, the proposed control strategy enjoys the properties of fast speed and small fluctuation, and it is able to realize high performance for hovering and avoidance. Numerical simulations demonstrate the effectiveness of the proposed approach.  

Key words: Keywords:lunar landing, hovering and avoidance, uncertainties of mass and thrust force, immersion and invariance.

中图分类号: 

  • 中图分类号: V448.22