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A sdre parameter adjustment method suitable for attitude maneuvering and tracking control of wheel-controlled satellites

A satellite attitude and tracking control technology, applied in the control/regulation system, non-electric variable control, position/direction control and other directions, can solve the problem of inability to guarantee, cannot guarantee satellite focus control, etc., to achieve high-precision effects

Active Publication Date: 2017-06-16
HARBIN INST OF TECH
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the attitude tracking control of existing satellites needs to ensure that the maximum torque calculated by the control system does not exceed the maximum torque of the satellite actuator in the fast maneuvering phase; the attitude tracking control of existing satellites is in the stable tracking phase. It is necessary to ensure the attitude accuracy of the control system; the existing traditional LQR method cannot guarantee the problem of focusing on different aspects of control in different stages of satellite operation; the existing SDRE method cannot guarantee that it focuses on different directions in different control stages problem; and the problem that the existing SDRE method does not select the parameters of the weight matrix as a function of the state

Method used

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  • A sdre parameter adjustment method suitable for attitude maneuvering and tracking control of wheel-controlled satellites
  • A sdre parameter adjustment method suitable for attitude maneuvering and tracking control of wheel-controlled satellites
  • A sdre parameter adjustment method suitable for attitude maneuvering and tracking control of wheel-controlled satellites

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specific Embodiment approach 1

[0022] Specific embodiment one: a kind of SDRE parameter adjustment method that is applicable to wheel control satellite attitude maneuvering and tracking control, specifically is prepared according to the following steps:

[0023] Step 1, rewriting the satellite attitude dynamic equation and the satellite attitude kinematic equation into a state-related form, extracting the required state variable x of the control system, and abbreviating the satellite attitude dynamic equation and the satellite attitude kinematic equation;

[0024] The dynamic equation of satellite attitude refers to the relationship between the torque received by the satellite and the angular velocity of the satellite attitude; the kinematic equation of satellite attitude refers to the relationship between the angular velocity of the satellite attitude and the rate of change of the satellite attitude parameters;

[0025] Step 2. Write the expression of the optimization index J of the control system according...

specific Embodiment approach 2

[0029] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is: in the step 1, the satellite attitude dynamic equation and the satellite attitude kinematic equation are rewritten into a state-related form, and the state variable x of the required control system is extracted. , to abbreviate the satellite attitude dynamic equation and the satellite attitude kinematic equation; the specific expression is:

[0030]

[0031] Equation (2) rewrites the satellite attitude dynamic equation and the satellite attitude kinematic equation into a state-dependent form, where ω e It is a 3×1 array, which is the error attitude angular velocity of the satellite, which means that the attitude angular velocity ω of the satellite and the target attitude angular velocity ω r the difference; is ω e Derivative of ; ω e × is ω e The cross product matrix; ω r is a 3×1 array, which is the angular velocity of the target attitude, which means the angular veloc...

specific Embodiment approach 3

[0047] Specific embodiment three: this embodiment is different from one of the specific embodiments one to two in that: the expression of the optimization index J of the control system is written in the step 2, and the specific expression is as follows:

[0048]

[0049] x in formula (6) T is the transposition of the state variable x, Q(x) is the weighted matrix of the state variable, x is the state variable of the control system, u c T is the control signal u of the control system c The transpose of , R(x) is the weighting matrix for the input.

[0050] Other steps and parameters are the same as one of the specific implementation modes 1 to 2.

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Abstract

The invention discloses an SDRE parameter adjustment method suitable for attitude maneuver and tracking control of wheel-controlled satellites, relates to an adjustment method of attitude maneuver and tracking control of wheel-controlled satellites, and aims at solving the problems that the prior art needs to ensure that the maximum torque computed by a control system does not exceed the maximum torque of a satellite execution mechanism, needs to ensure the attitude precision of the control system, cannot ensure the problem of emphasizing the different aspects of the control, cannot ensure the problem of emphasizing the different directions at different control stages and does not select the parameters of weighting matrixes as functions of states. The SDRE parameter adjustment method comprises the following steps: 1, abbreviating a satellite attitude dynamic equation and a satellite attitude kinematical equation; 2, writing the expression of an optimizing index J; 3, designing R(x) and Q(x); 4, solving uc; 5, computing Tc and sending the Tc to an execution mechanism to control the satellite attitude. The SDRE parameter adjustment method suitable for attitude maneuver and tracking control of wheel-controlled satellites is applied to the field of attitude maneuver and tracking control of satellites.

Description

technical field [0001] The invention relates to an adjustment method for attitude maneuvering and tracking control of a wheel-controlled satellite. Background technique [0002] Satellite attitude tracking control is usually divided into a fast maneuvering phase and a stable tracking phase, and the requirements for the control system are different for different phases. In the rapid maneuvering phase, it is necessary to ensure that the maximum torque calculated by the control system does not exceed the maximum torque of the satellite actuator. In the stable tracking phase, it is necessary to ensure the attitude accuracy of the control system. [0003] For the traditional LQR method, the parameters of the LQR optimization index weighting matrix can only be selected as constant values, which cannot guarantee to provide different aspects of focus control in different stages of satellite operation. [0004] The SDRE method does not select the parameters of the weighting matrix ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00B64G1/24G05D1/00
Inventor 黄思萌耿云海侯志立孙瑞
Owner HARBIN INST OF TECH
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