Robust control method for angular speed stability of under-actuated spacecraft

A robust control and spacecraft technology, applied in the direction of adaptive control, general control system, control/regulation system, etc. It can solve the interference and uncertainty of underactuated spacecraft with weak ability and difficult robust controller design, underactuated spacecraft controllers cannot be directly applied, etc.

Active Publication Date: 2015-06-03
BEIHANG UNIV
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Problems solved by technology

these engineering factors affect the attitude control task of an underactuated spacecraft no differently than the fully actuated case
It’s just that the ability of the underactuated spacecraft to deal with these disturbances and uncertainties is relatively weak, and it is even greatly affected by these factors, so it is difficult to design a robust controller
Under the influence of these factors, ideally designed underactuated spacecraft controllers cannot be directly applied in actual engineering
[0004] In order to solve the problem of stable control of the angular velocity of underactuated spacecraft using thrusters in practical engineering applications, the present invention proposes a robust control method

Method used

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  • Robust control method for angular speed stability of under-actuated spacecraft
  • Robust control method for angular speed stability of under-actuated spacecraft
  • Robust control method for angular speed stability of under-actuated spacecraft

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Embodiment Construction

[0067] Specific embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0068] Since the control of the spacecraft includes the three axes of roll, pitch and yaw, to achieve normal operation in orbit, it is necessary to configure at least thrusters that can generate three-axis control moments, and the attitude of the corresponding axes can be controlled by using the corresponding thrusters. Such as figure 1 shown. However, the thruster has reliability problems. It may fail due to some reasons or work for a long time. It may be the first to lose control torque on a certain axis, such as figure 1 Provides control torque T in 3 At this time, only two of the three axes of the spacecraft have the ability to output attitude control torque. Theoretically speaking, the spacecraft only has two control inputs at this time, and to complete the three-axis control, it is an underactuated control issues.

[0069] Th...

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Abstract

A robust control method for angular speed stability of an under-actuated spacecraft aims at the under-actuated spacecraft with two thrusters, and the angular speed stability control law having robustness for generalized model errors of a system is designed. First a system model comprising the generalized model errors is established, and a system dynamics equation comprising the generalized model errors such as system inertia uncertainty, executing mechanism installing errors and angular speed measuring errors is obtained. Then the robust control method aiming at the derived system is designed, and global asymptotic stability is proved. Finally, a conception of a homogeneous system is introduced, and the fact that the control law enables the global asymptotic stability of an original system is analyzed and proved. The method provides a theory basis for the under-actuated spacecraft for practical engineering application, and the control law is simple in form. The robust control method can be used for robust control for angular speed stability of various under-actuated spacecrafts for which the thrusters are adopted.

Description

【Technical field】 [0001] The invention relates to a robust control method for stabilizing the angular velocity of an underactuated spacecraft, which realizes the purpose of stabilizing the three-axis angular velocity when the spacecraft only has two-axis control torque output capability, and belongs to the partial attitude of the underactuated spacecraft The application technology field of stability control. 【Background technique】 [0002] An underactuated spacecraft refers to a spacecraft whose number of independent control inputs is less than the number of degrees of freedom of the spacecraft. Due to the complex and harsh space environment, it is inevitable that the spacecraft will fail after long-term operation, and the failure of the actuator is particularly common. For small spacecraft, due to the limitations of volume, mass and economic cost, it is often impossible to configure redundant actuators to improve reliability like large spacecraft, and minimize the Impleme...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/00
Inventor 金磊张军徐世杰邢琰王冬霞唐强
Owner BEIHANG UNIV
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