Attitude Maneuvering Control Method for Flexible Satellite Based on Tracking Time-Energy Optimal Trajectory

A technology for tracking time and flexible satellites, applied in three-dimensional position/channel control and other directions, it can solve the problems of poor robustness and high energy consumption of the flywheel, and achieve good robustness, complete robustness, and energy saving. consumption effect

Active Publication Date: 2017-07-28
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] The invention aims to solve the problem that the system has poor robustness to the pulling deviation of the moment of inertia while losing less time and the problem that the flywheel consumes more energy only when the time is optimal

Method used

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  • Attitude Maneuvering Control Method for Flexible Satellite Based on Tracking Time-Energy Optimal Trajectory
  • Attitude Maneuvering Control Method for Flexible Satellite Based on Tracking Time-Energy Optimal Trajectory
  • Attitude Maneuvering Control Method for Flexible Satellite Based on Tracking Time-Energy Optimal Trajectory

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specific Embodiment approach 1

[0035] Specific implementation mode one: combine figure 1 This implementation is described, based on the tracking time-energy optimal trajectory control method for flexible satellite attitude maneuvering. It includes the following steps:

[0036] Step 1: Use x-y-z sequence Euler angles to describe the satellite attitude, establish the dynamics and kinematics equations of the satellite, ignore the influence of flexibility factors under the premise of reasonable bandwidth design, and simplify the dynamic model of the flywheel as the actuator, Design a nonlinear decoupled torque controller;

[0037] Step 2: Under the premise that the initial attitude angle, initial attitude angular velocity, target attitude angle, target attitude angular velocity, moment of inertia and output torque amplitude are given, according to the time-energy optimal control method, starting from the moment of maneuvering, real-time Calculate an optimal angle tracking trajectory and its corresponding op...

specific Embodiment approach 2

[0039] Specific implementation mode two: the specific operation steps of step 1 of this embodiment mode are:

[0040] For a wheel-controlled spacecraft with a flexible solar sail, considering the influence of the disturbance moment, the attitude dynamic equation and the sail flexible vibration equation are:

[0041]

[0042] where I s =diag(I x ,I y ,I z ) is the moment of inertia matrix of the spacecraft, Ix is the moment of inertia of the spacecraft about the x-axis of the system, I y is the moment of inertia of the spacecraft about the y-axis of the system, I z is the moment of inertia of the spacecraft about the z-axis of the system, ω s =[ω x ,ω y ,ω z ] T is the component matrix of the inertial angular velocity vector of the spacecraft in this system, for ω s Derivative with respect to time, T c and T d are the control torque and external disturbance torque vectors, respectively. η,ε,Ω,F s Corresponding to the flexible mode coordinates of the sailboard...

specific Embodiment approach 3

[0064] Specific implementation mode three: the specific operation steps of step 2 of this embodiment mode are:

[0065] Time-energy optimal control is the weighting of time optimal control and energy optimal control, that is,

[0066]

[0067] Among them, ρ≥0 is the time weighting coefficient, indicating the designer’s emphasis on the response time; if ρ=0, it means that the response time is ignored, and only the most energy consumption is considered; if ρ=∞, it means that the energy consumption is not considered Consumption, only requires the shortest time. tf is the maneuvering time, u(t) is the torque output by the flywheel; starting from step 2, and represent the same variable;

[0068] Let the initial value of the angle at the beginning of the maneuver be The angular velocity is 0, and the target maneuvering angle is The target maneuvering angular velocity is 0, and the moment of inertia is I x , the output torque amplitude is u x , and the weighted time coe...

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Abstract

The invention provides a flexible satellite attitude maneuvering control method based on tracking of a time-energy consumption optimal trajectory, and relates to a maneuvering control method for a flexible satellite attitude. In order to solve the problem of contradiction between bias of rotational inertia and loss time and achieve time-energy consumption optimal control, under the condition that the influence of flexible vibration is taken into consideration, an optimal angle tracking trajectory and an optimal angular speed tracking trajectory corresponding to the optimal angle tracking trajectory are calculated in real time from the maneuvering start moment according to a time-energy consumption optimal control method, it is guaranteed that the angle optimal trajectory calculated by attitude angle tracking of a rolling channel has short loss time and meanwhile has good robustness to bias of rotational inertia through PD control, and optimality of time and energy consumption of a fly wheel are taken into consideration at the same time. The flexible satellite attitude maneuvering control method is suitable for maneuvering control over the flexible satellite attitude.

Description

technical field [0001] The invention relates to a maneuver control method of a flexible satellite attitude. Background technique [0002] With the development of society, the advancement of economy, science and technology, and other undertakings, human beings have accelerated the pace of space exploration. The development and progress of the space industry has obviously become the main indicator of a country's comprehensive strength and international competitiveness. Aerospace engineering is a complex system engineering with strong comprehensiveness. The satellite system has many subsystems, including structure, power supply, thermal control, measurement and control, attitude and orbit control and other related systems. The satellite attitude control system is a very critical subsystem, and its performance will determine whether the predetermined indicators issued by the satellite or the on-orbit tasks can be successfully realized. [0003] The rapid maneuverability of lar...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/10
Inventor 孙延超李传江马广富李程张超马晶晶王晓东
Owner HARBIN INST OF TECH
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