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Disturbance moment identification method for satellite attitude control

A satellite attitude control and interference torque technology, applied in attitude control, adaptive control, general control system, etc., can solve the problem of inability to separate measurement noise and interference torque, and achieve the effect of no time delay and good noise effect.

Active Publication Date: 2017-04-12
哈尔滨工大卫星技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that traditional filtering algorithms cannot separate measurement noise and disturbance torque in high-precision attitude control tasks. The present invention provides a disturbance torque identification method suitable for satellite attitude control

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  • Disturbance moment identification method for satellite attitude control
  • Disturbance moment identification method for satellite attitude control
  • Disturbance moment identification method for satellite attitude control

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specific Embodiment approach 1

[0051] Specific implementation mode one: combine figure 1 Describe this embodiment, the interference moment identification method applicable to satellite attitude control described in this embodiment, the method includes the following steps:

[0052] Step 1. According to the satellite attitude control system to be identified, a small quantized satellite attitude control system model with an unknown disturbance moment is established;

[0053] Step 2. Obtain an unknown input observer according to the satellite attitude control system model established in step 1, and use the obtained unknown input observer to estimate the disturbance torque including noise;

[0054] Step 3, using discrete Fourier transform and inverse discrete Fourier transform to process the noise-containing disturbance torque estimated in step 2 off-line, and obtain the estimated result of the disturbance torque after noise removal;

[0055] Step 4, using Fourier series fitting to the estimation result in step...

specific Embodiment approach 2

[0056]Specific embodiment two: This embodiment is a further limitation of the disturbance moment identification method suitable for satellite attitude control described in specific embodiment one, the specific process of the step one:

[0057] Select Satellite Euler Angles As attitude parameters, where, is the roll angle, θ is the pitch angle, and ψ is the yaw angle, according to the sequence of 3-1-2, that is, first rotate the ψ angle around the z axis, and then rotate around the x axis Angle, and finally rotate the θ angle around the y-axis to get the kinematic equation of the satellite:

[0058]

[0059] In the formula, the rotational angular velocity ω=[ω x ω y ω z ] T ;

[0060] The attitude dynamic equation of the satellite is:

[0061]

[0062] where u c =[u 1 u 2 u 3 ] T is the control torque on the star, d=[d 1 d 2 d 3 ] T Indicates the disturbance torque.

[0063] The attitude dynamic equation can be rewritten into the following form: ...

specific Embodiment approach 3

[0081] Specific embodiment three: this embodiment is a further limitation of the disturbance moment identification method suitable for satellite attitude control described in specific embodiment one, and the step two includes the following steps:

[0082] Step 21. Discretize the model in step 1. From formula (14), we can know that B u =B d , so it can be set that B in formula (16) u =B d =B, taking the sampling time △t, the discrete state space expression of the system with unknown disturbance is obtained as:

[0083]

[0084] Step 22. In order to calculate the unknown interference input, the conditions must be met:

[0085] rank(CB)=rank(B)=k d (18)

[0086] In formula (17), since C is a unit matrix, it can be seen that CB=B, which satisfies formula (18).

[0087] Step two and three, obtaining an unknown input state observer. From formula (17), we can get:

[0088] y(k+1)-CAx(k)-CBu(k)=CBd(k)+Cw k +v k+1 (19)

[0089] Under the conditions in step 22, there ex...

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Abstract

The invention discloses a disturbance torque identification method suitable for satellite attitude control, and belongs to the technical field of spacecraft attitude control. The invention aims at solving the problem that a conventional filter algorithm cannot achieve the separated measurement of noise and disturbance torque in a high-precision attitude control task. The method comprises the following steps: 1, building a small quantized satellite attitude control mode with an unknown disturbance torque according to a to-be-identified satellite attitude control system; 2, employing an obtained disturbance torque, comprising noise, estimated by an unknown input observer according to the unknown input observer obtained according to the satellite attitude control system built at step 1; 3, employing the DFT (Discrete Fourier Transformation) and the IDFT (Inverse Discrete Fourier Transformation) to process the obtained disturbance torque, comprising noise, estimated at step 2 in an off-line manner, and obtaining the estimation results of the disturbance torque after noise removal; 4, carrying out the Fourier series fitting of estimation results, obtained at step 3 to obtain a mathematical expression of the disturbance torque. The method is used for the attitude control of satellites in orbit.

Description

technical field [0001] The invention belongs to the technical field of spacecraft attitude control. Background technique [0002] Three-axis stabilized satellites will be affected by many disturbance moments in space during their in-orbit operations, such as gravity gradient moments, solar pressure moments, aerodynamic moments, and disturbance moments generated by rotating parts of satellite payloads. Especially for satellites that require high attitude control accuracy, the disturbance torque will seriously affect the attitude control accuracy of the satellite, and eventually lead to the failure of the satellite's in-orbit flight mission to be successfully completed, such as high-resolution earth observation satellites. Compensating the disturbance torque in the attitude control algorithm can greatly improve the attitude control accuracy of the satellite, but to compensate the disturbance torque, it is necessary to accurately identify the disturbance torque received by the ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/08
Inventor 陈雪芹孙瑞李诚良宋道喆易涛曾奎盛靖耿云海
Owner 哈尔滨工大卫星技术有限公司
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