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    基于模糊自抗扰的星体跟踪器运动控制研究

    Fuzzy ADRC-Based Motion Control for a Star Tracker

    • 摘要: 针对星体跟踪器在载体的振动、姿态变化和环境因素等外部扰动, 装配精度、摩擦、传感器噪声等内在扰动直接影响其运动跟踪精度的问题,从控制角度出发抑制内外扰动,提高跟踪精度,保证其导航性能。通过建立星体跟踪器轴系运动的动力学模型,设计基于模糊控制器与自抗扰控制器(Active Disturbance Rejection Controller, ADRC)相结合的复合控制策略,利用模糊控制器对自抗扰控制器参数进行自适应调节,从而对总扰动进行估计。通过仿真测试,结果表明对存在随机扰动下的正弦信号,该方法在方位和俯仰方向的平均绝对值误差分别为0.062 6°、0.063 8°,均方根误差分别为0.071 1°、0.073 3°,与传统PID和ADRC方法相比较,其误差最小。由此可见,使用模糊自抗扰控制(Fuzzy Active Disturbance Rejection Controller, FADRC)具有较好的扰动抑制能力,可以有效改善星体跟踪器的跟踪控制性能,具有较高的工程应用价值。

       

      Abstract: Aiming at the problem that star trackers' motion tracking accuracy is directly affected by external disturbances such as vibration, attitude changes, and environmental factors, as well as internal disturbances such as assembly inaccuracy, friction, and sensor noise, a control approach is adopted to suppress these disturbances, improve tracking accuracy, and ensure their navigation performance. By establishing a dynamic model of the star tracker'sgimbal motion, a composite control strategy combining a fuzzy controller with an active disturbance rejection controller (ADRC) is designed. The fuzzy controller is utilized to adaptively adjust the parameters of the ADRC, thereby estimating the total disturbance. Simulation tests show that for \sin usoidal signal under random disturbances, the proposed method achieves mean absolute errors of 0.062 6° and 0.063 8° in the yaw and pitch directions, respectively, and root mean square errors of 0.071 1° and 0.073 3°, respectively. Compared with traditional PID and ADRC methods, its error is the smallest. It can be concluded that the fuzzy active disturbance rejection control (FADRC) method possesses superior disturbance rejection capability, can effectively improve the tracking performance of the star tracker, and holds significant value for engineering applications.

       

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