大型柔性航天器的高精度结构化综合控制

携带柔性结构的大型航天器具有多个弱阻尼谐振模态、这些弱阻尼模态和高空环境固有的低频扰动对航天器的稳定性和性能造成了干扰，同时复杂空间任务对航天器提出了高指向精度要求。针对1大型柔性航天器的振荡抑制和高精度控制问题，提出了多控制模块协同的结构化综合控制策略，根据系统特定的谐振模态，在控制器结构中加入内模控制器、陷波滤波器、串联PID控制器，以低阶的结构化控制器来满足系统的多重性能的要求，减小传统鲁棒综合控制因控制器阶次高带来的工程造价和实施难度。构建多重性能加权解耦输出的结构化综合性能矩阵，根据控制目标通过加权函数限制输出性能，给出满足综合性能要求的结构化控制器。仿真结果表明，相较传统的鲁棒综合控制，所设计的结构化控制器即具有较低的复杂度，并同时满足姿态稳定性和高指向精度要求，能够有效地抑制柔性附件在局部频率的振动问题。为大型柔性系统的结构化综合控制提供一定的理论方法和参考设计实例。

High-precision Structured synthesized Control for Large-scale Flexible Spacecraft

Large spacecraft carrying flexible structures have multiple weakly damped resonant modes. These weakly damped modes and the low frequency disturbances inherent in the high altitude environment cause disturbances to the stability and performance of the spacecraft, as well as the high pointing accuracy required by complex space missions. For the problem of oscillation suppression and high precision control of multiple large flexible spacecraft, a structured integrated control strategy with multiple control modules in concert is proposed. According to the specific resonant mode of the system, an internal mode controller, a trap filter and a series PID controller are added to the controller structure to meet the multiple performance requirements of the system with a low-order structured controller, reducing the engineering cost and implementation difficulty of the traditional robust integrated control due to the high order of the controller. A structured integrated performance matrix with multiple performance weighted decoupled outputs is constructed, with the output performance restricted by a weighting function based on the control objective to give a structured controller that meets the integrated performance requirements. Simulation results show that the designed structured controller has a lower complexity compared to conventional robust control, while meeting the requirements of attitude stability and high pointing accuracy. It is able to effectively suppress the vibration problem of the flexible attachment at local frequencies. Some theoretical methods and reference design examples are provided for structural integrated control of large flexible systems.