用于移动载体卫星通信的动中通系统若干关键问题研究
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摘要
动中通系统是一种安装于移动载体上的卫星通信装置。动中通系统能够在载体移动的同时,通过自动调整自身姿态,消除载体运动以及其它各种扰动对卫星通信系统产生的干扰,进而实现稳定不间断的移动卫星通信。由于动中通系统具有适应性强、通信距离远、频带宽、保密性好等诸多优点,因此动中通系统已经逐渐成为移动通信领域的研究热点之一。本文研究了一类典型船载三轴动中通系统的几个关键问题,主要研究内容简要叙述如下：
建立了动中通系统的单轴模型和三轴非线性模型。首先介绍了一类典型船载三轴动中通系统的组成以及各个模块的功能。然后分析了动中通系统三轴稳定机理,介绍了系统传感器安装方式,并设计了与之对应的控制结构。最后在对动中通系统运动学和动力学特性分析的基础上,建立了动中通系统的单轴模型和三轴非线性模型。
针对动中通系统传感器信号滤波的实际问题,提出了两种基于小波变换的滤波方法。第一种是3σ模平方平移不变小波滤波算法。该算法能够在保证小波阈值滤波效果的同时,尽可能地消除或减少伪Gibbs现象。第二种是基于邻域相关性的自适应小波滤波算法。这种算法进一步考虑了邻近窗口之间的邻域相关性,并根据不同尺度自适应地调节阈值函数,因此能够获得较好的滤波性能。利用典型信号和真实陀螺信号的滤波结果验证了所提出的两种小波滤波算法的有效性。
研究了基于单轴模型的动中通系统稳定跟踪控制问题。首先提出了一种基于新型趋近律的滑模控制器。该控制器通过扰动补偿项抑制外来扰动,在确保趋近速度的同时,尽可能地减小系统抖振。然后提出了一种非线性鲁棒控制器设计方法。该控制器利用鲁棒控制项抑制外来扰动对系统稳定跟踪性能的影响,回避了滑模控制中的抖振问题。通过对比仿真实验,验证了所提出的两种稳定跟踪控制方法的有效性。
研究了基于三轴非线性模型的动中通系统稳定跟踪控制问题。首先基于动中通系统三轴非线性模型,提出了一种基于Backstepping方法的自适应鲁棒控制器。该控制器能够抑制系统中存在的参数不确定和未建模不确定因素的影响,隔离载体扰动,实现整个系统的稳定跟踪。然后基于简化后的动中通系统三轴非线性模型,提出了一种基于非连续映射的自适应鲁棒控制器。该控制器同样能够抑制系统中存在的参数不确定和未建模不确定因素的影响,而且控制器结构更为简单,易于实现。最后提出了一种基于期望补偿的自适应鲁棒控制器。其中,模型补偿项的参数回归矩阵仅依赖于期望跟踪轨迹,因而可以降低传感器噪声等不利因素对系统稳定跟踪性能的影响。
介绍了一种四自由度、三轴稳定、两轴指向的船载动中通系统的工程实现方案。在不同扰动条件下,利用工程测试方法测试了该动中通系统的稳定跟踪性能。
Mobile satellite communication system (MSCS) is a satellite communication device in-stalled on a moving carrier. When the carrier is moving, the MSCS can adjust its posture au-tomatically to eliminate the effects from the motion of the carrier and other disturbance. Then stable and continuous mobile satellite communication can be achieved. Due to many advan-tages, such as good adaptability, long distance communication, broadband, good security and so on, the MSCS is becoming a hotspot of research in mobile communication. In this disser-tation, several key problems of the MSCS are studied. The main contents are summarized as follows:
The single-axis model and the tri-axis model of the MSCS are established. Firstly, the composition of a class of ship-mounted tri-axis MSCS and the functions of the modules are in-troduced. Then, the tri-axis stabilization mechanism is studied. The sensor installation methods are introduced and the corresponding control structures are designed. At last, based on the anal-ysis of the kinematic and dynamic features of the MSCS, the single-axis model and the tri-axis model of the MSCS are established respectively.
Two wavelet filtering algorithms are proposed to filter the sensor signals of the MSCS. The first algorithm integrates the3σ threshold, the modular square threshold function with ad-justment factor and the translation invariant discrete wavelet transform(TIDWT). The proposed algorithm can get good denoising performance and eliminate the pseudo-Gibbs phenomena as much as possible. The second algorithm is a wavelet filtering algorithm based on neighboring coefficients. The proposed algorithm further considers the relationship among the moving win-dows and can adjust the threshold function by the decomposition level, so better performance can be obtained. The classic noisy signals simulation results and the real gyro signal experiment results are used to verify the effectiveness of the proposed two algorithms.
The tracking and stabilizing control problem is studied based on the single-axis model of the MSCS. A sliding mode controller with a new reaching law is proposed. The proposed controller can compensate external disturbance and minimize the chattering of the system with a guaranteed reaching speed. Then, a nonlinear robust controller is proposed. The proposed controller uses a robust feedback term to attenuate external disturbance and avoid the chattering problem of the sliding mode controller. The tracking and stabilizing validity of the proposed two controllers are proved via comparative simulation results.
The tracking and stabilizing control problem is studied based on the tri-axis nonlinear model of the MSCS. Firstly, based on the tri-axis nonlinear model, an adaptive robust controller via backstepping design is proposed. The proposed controller can reduce the effects of the pa-rameter uncertainties and the un-modeled uncertainties and eliminate the disturbance from the carrier to track the aim satellite accurately. Then, based on a simplified tri-axis model of the MSCS, an adaptive robust controller with a discontinuous projection is proposed. The proposed controller can also reduce the effects of the parameter uncertainties and the un-modeled uncer-tainties in the system. The structure of the proposed controller is more simple and easier to implement. At last, a desired compensation adaptive robust controller is proposed. The regres-sor of the model compensation term in the proposed controller depends on the desired trajectory only, so the effects of the measurement noise and other adverse factors can be reduced.
The design and implementation of a tri-axis MSCS with4-DOF and two pointing direc-tions are introduced. The tracking and stabilizing validity of the real system is tested under different disturbance situations.
建立了动中通系统的单轴模型和三轴非线性模型。首先介绍了一类典型船载三轴动中通系统的组成以及各个模块的功能。然后分析了动中通系统三轴稳定机理,介绍了系统传感器安装方式,并设计了与之对应的控制结构。最后在对动中通系统运动学和动力学特性分析的基础上,建立了动中通系统的单轴模型和三轴非线性模型。
针对动中通系统传感器信号滤波的实际问题,提出了两种基于小波变换的滤波方法。第一种是3σ模平方平移不变小波滤波算法。该算法能够在保证小波阈值滤波效果的同时,尽可能地消除或减少伪Gibbs现象。第二种是基于邻域相关性的自适应小波滤波算法。这种算法进一步考虑了邻近窗口之间的邻域相关性,并根据不同尺度自适应地调节阈值函数,因此能够获得较好的滤波性能。利用典型信号和真实陀螺信号的滤波结果验证了所提出的两种小波滤波算法的有效性。
研究了基于单轴模型的动中通系统稳定跟踪控制问题。首先提出了一种基于新型趋近律的滑模控制器。该控制器通过扰动补偿项抑制外来扰动,在确保趋近速度的同时,尽可能地减小系统抖振。然后提出了一种非线性鲁棒控制器设计方法。该控制器利用鲁棒控制项抑制外来扰动对系统稳定跟踪性能的影响,回避了滑模控制中的抖振问题。通过对比仿真实验,验证了所提出的两种稳定跟踪控制方法的有效性。
研究了基于三轴非线性模型的动中通系统稳定跟踪控制问题。首先基于动中通系统三轴非线性模型,提出了一种基于Backstepping方法的自适应鲁棒控制器。该控制器能够抑制系统中存在的参数不确定和未建模不确定因素的影响,隔离载体扰动,实现整个系统的稳定跟踪。然后基于简化后的动中通系统三轴非线性模型,提出了一种基于非连续映射的自适应鲁棒控制器。该控制器同样能够抑制系统中存在的参数不确定和未建模不确定因素的影响,而且控制器结构更为简单,易于实现。最后提出了一种基于期望补偿的自适应鲁棒控制器。其中,模型补偿项的参数回归矩阵仅依赖于期望跟踪轨迹,因而可以降低传感器噪声等不利因素对系统稳定跟踪性能的影响。
介绍了一种四自由度、三轴稳定、两轴指向的船载动中通系统的工程实现方案。在不同扰动条件下,利用工程测试方法测试了该动中通系统的稳定跟踪性能。
Mobile satellite communication system (MSCS) is a satellite communication device in-stalled on a moving carrier. When the carrier is moving, the MSCS can adjust its posture au-tomatically to eliminate the effects from the motion of the carrier and other disturbance. Then stable and continuous mobile satellite communication can be achieved. Due to many advan-tages, such as good adaptability, long distance communication, broadband, good security and so on, the MSCS is becoming a hotspot of research in mobile communication. In this disser-tation, several key problems of the MSCS are studied. The main contents are summarized as follows:
The single-axis model and the tri-axis model of the MSCS are established. Firstly, the composition of a class of ship-mounted tri-axis MSCS and the functions of the modules are in-troduced. Then, the tri-axis stabilization mechanism is studied. The sensor installation methods are introduced and the corresponding control structures are designed. At last, based on the anal-ysis of the kinematic and dynamic features of the MSCS, the single-axis model and the tri-axis model of the MSCS are established respectively.
Two wavelet filtering algorithms are proposed to filter the sensor signals of the MSCS. The first algorithm integrates the3σ threshold, the modular square threshold function with ad-justment factor and the translation invariant discrete wavelet transform(TIDWT). The proposed algorithm can get good denoising performance and eliminate the pseudo-Gibbs phenomena as much as possible. The second algorithm is a wavelet filtering algorithm based on neighboring coefficients. The proposed algorithm further considers the relationship among the moving win-dows and can adjust the threshold function by the decomposition level, so better performance can be obtained. The classic noisy signals simulation results and the real gyro signal experiment results are used to verify the effectiveness of the proposed two algorithms.
The tracking and stabilizing control problem is studied based on the single-axis model of the MSCS. A sliding mode controller with a new reaching law is proposed. The proposed controller can compensate external disturbance and minimize the chattering of the system with a guaranteed reaching speed. Then, a nonlinear robust controller is proposed. The proposed controller uses a robust feedback term to attenuate external disturbance and avoid the chattering problem of the sliding mode controller. The tracking and stabilizing validity of the proposed two controllers are proved via comparative simulation results.
The tracking and stabilizing control problem is studied based on the tri-axis nonlinear model of the MSCS. Firstly, based on the tri-axis nonlinear model, an adaptive robust controller via backstepping design is proposed. The proposed controller can reduce the effects of the pa-rameter uncertainties and the un-modeled uncertainties and eliminate the disturbance from the carrier to track the aim satellite accurately. Then, based on a simplified tri-axis model of the MSCS, an adaptive robust controller with a discontinuous projection is proposed. The proposed controller can also reduce the effects of the parameter uncertainties and the un-modeled uncer-tainties in the system. The structure of the proposed controller is more simple and easier to implement. At last, a desired compensation adaptive robust controller is proposed. The regres-sor of the model compensation term in the proposed controller depends on the desired trajectory only, so the effects of the measurement noise and other adverse factors can be reduced.
The design and implementation of a tri-axis MSCS with4-DOF and two pointing direc-tions are introduced. The tracking and stabilizing validity of the real system is tested under different disturbance situations.
引文
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