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Magnetic-control bias momentum satellite attitude control method based on periodic Lyapunov equation

A bias momentum, attitude control technology, applied in attitude control, adaptive control, general control system and other directions, can solve the problem that the magnetic torque amplitude is easy to be saturated, the magnetic torque device control torque amplitude is limited and the system is not ideal. stability issues

Active Publication Date: 2014-10-08
哈尔滨工业大学人工智能研究院有限公司
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Problems solved by technology

[0006] The purpose of the present invention is to solve the limitation of the magnetic torque control torque amplitude that is easily saturated and cause system instability, the limitation of the magnetic torque device control torque amplitude that the PID controller solves is not ideal and the objective function weighting matrix of the optimal control design method A method for attitude control of magnetron biased momentum satellites based on the periodic Lyapunov equation is proposed for the problem that it is difficult to establish a quantitative relationship with the performance index of the actual system

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  • Magnetic-control bias momentum satellite attitude control method based on periodic Lyapunov equation
  • Magnetic-control bias momentum satellite attitude control method based on periodic Lyapunov equation
  • Magnetic-control bias momentum satellite attitude control method based on periodic Lyapunov equation

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specific Embodiment approach 1

[0042] Specific embodiment one: the attitude control method of a kind of magnetron bias momentum satellite based on period Lyapunov equation of the present embodiment, specifically realize according to the following steps:

[0043] Step 1: Establish the satellite body coordinate system with the satellite center of mass as the origin o, fix the x, y and z axes on the satellite body, according to ω x , ω y , ω z Establish the linearized dynamic model of the magnetron bias momentum satellite, that is, the attitude dynamic equation of the bias momentum satellite; where the x-axis points forward along the longitudinal symmetry axis of the satellite, and the y-axis points downward perpendicular to the x-axis in the longitudinal symmetry plane of the satellite , the z-axis is perpendicular to the oxy plane, the direction of the z-axis follows the right-hand spiral rule, the x-axis is the roll axis, the y-axis is the pitch axis and the z-axis is the yaw axis; ω x , ωy , ω z is the ...

specific Embodiment approach 2

[0058] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in step 1, the satellite body coordinate system is established with the satellite center of mass as the origin o, and the x, y and z axes are fixed on the satellite body, according to ω x , ω y , ω z The specific process of establishing the linearized dynamic model of the magnetron bias momentum satellite, that is, the attitude dynamic equation of the bias momentum satellite, is as follows:

[0059] I ω · + ω × ( Iω + h ) = - h · + T

[0060] In the formula, ω=[ω x ω y ω z ] T is the rotational angular velocity of the satellite body coordinate system relative to the geocentric inertia coordinate system, is the change rate of the rotation ...

specific Embodiment approach 3

[0093] Specific embodiment three: what this embodiment is different from specific embodiment one or two is: select design parameter γ in step 2, i.e. scalar function γ, the specific process of solving periodic Lyapunov differential equation is:

[0094] (1), the periodic Lyapunov differential equation is:

[0095] W · ( t ) = W ( t ) A T + AW ( t ) + γ ( t ) W ( t ) - B ( t ) R - 1 ( t ) B T ...

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Abstract

The invention provides a magnetic-control bias momentum satellite attitude control method based on the periodic Lyapunov equation, and relates to a magnetic-control bias momentum satellite attitude control system. The magnetic-control bias momentum satellite attitude control method based on periodic Lyapunov equation solves the problems that magnetic-control moment magnitude is limited, and a quantitative relation between selection of a weighting matrix and a performance index of an actual system is difficult to build in a traditional optimum control design method. The magnetic-control bias momentum satellite attitude control method based on the periodic Lyapunov equation comprises the steps that (1) a linear kinetic model of the magnetic-control bias momentum satellite attitude control system is built, (2) a symmetrical positive definite solution W(t) of the periodic Lyapunov equation is obtained, (3) a symmetrical positive definite solution P(t) of the periodic Riccati differential equation is obtained, (4) a state feedback controller is obtained, and (5) the control effect and the magnitude of control moment are tested. The magnetic-control bias momentum satellite attitude control method based on periodic Lyapunov equation is applied to the field of magnetic-control bias momentum satellite attitude control.

Description

technical field [0001] The invention relates to an attitude control method of a magnetron bias momentum satellite based on a periodic Lyapunov equation. Background technique [0002] The magnetic control bias momentum system has many excellent characteristics and is widely used in satellite attitude control. On the one hand, the magnetic control torque uses the earth's magnetic field to generate control torque. As a semi-passive actuator, it can support the satellite's long-term operation; on the other hand, the bias momentum system does not require a yaw attitude sensor, making the satellite structure Simple, low cost, and high reliability. Attitude stabilization control of magnetron bias momentum satellites has been the focus of research at home and abroad. [0003] The magnetic torque of a certain type of magnetic torque device is fixed, so the amplitude of the control torque that the magnetic torque device can provide is limited. The boundedness of the control signal ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04
Inventor 周彬刘少兵
Owner 哈尔滨工业大学人工智能研究院有限公司
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