Feedforward PID (proportion, integration and differentiation) control based rapid high-precision relative pointing control method of noncoplanar rendezvous orbit

A different-plane crossing and pointing control technology, applied in attitude control, adaptive control, general control system, etc., can solve the problem of fast and high-precision tracking and pointing without satellite attitude

Active Publication Date: 2015-04-29
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The present invention solves the problem that there is no control method for the attitude fast and high-prec

Method used

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  • Feedforward PID (proportion, integration and differentiation) control based rapid high-precision relative pointing control method of noncoplanar rendezvous orbit
  • Feedforward PID (proportion, integration and differentiation) control based rapid high-precision relative pointing control method of noncoplanar rendezvous orbit
  • Feedforward PID (proportion, integration and differentiation) control based rapid high-precision relative pointing control method of noncoplanar rendezvous orbit

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Experimental program
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specific Embodiment approach 1

[0049] A fast and high-precision relative pointing control method for fast-changing tracks across different planes based on feed-forward PID control, including the following steps:

[0050] Step 1: Determine the desired pose:

[0051] The tracking star and the target star are located on different orbits, and the tracking star needs to detect the position of the target autonomously; in order to make the laser emitter or observation equipment of the tracking star always point to the target star, the desired attitude must be determined first, so that the problem of pointing to the target can be easily solved. It becomes a problem of attitude tracking; due to the limited detection range, laser attack or observation and monitoring can only be carried out when the distance between the tracking star and the target star is relatively close. , at this time, the expected attitude often changes quickly (the embodiment of "fast change"), so it is necessary to have a faster response speed ...

specific Embodiment approach 2

[0077] Specific implementation mode two: the implementation process of step 3 of this embodiment mode is:

[0078] The angular velocity ω of the tracking star in the inertial space is equal to the angular velocity ω of the tracking star body coordinate system relative to the attitude reference coordinate system br The implicated angular velocity ω of the center-of-mass inertial coordinate system relative to the attitude reference coordinate system ri the sum of

[0079] ω=ω br +ω ri (8)

[0080] In inertial orientation flight mode

[0081] At this time, the reference coordinate system is the center of mass inertial coordinate system, ω ri = 0, yes

[0082]

[0083] C X (i), C Y (i), C Z (i) the rotation matrix in the coordinate system conversion process;

[0084] ψ is the yaw angle; is the pitch angle; is roll angle; ω x , ω y , ω z are the components of the tracking star angular velocity ω in the x-axis, y-axis, and z-axis in the center-of-mass inertial...

specific Embodiment approach 3

[0099] Specific implementation mode three: the implementation process of step 4 of this embodiment mode is:

[0100] Due to the large change in the expected attitude near the intersection point of the orbits of the two stars, the requirements for the control torque are relatively high; although the thruster can provide a large torque, the output torque is not continuous, and the command torque cannot be accurately tracked, which destroys the control System performance; In the feedforward PID attitude tracking control, the accuracy of the control quantity is required to be higher, and it is more likely to cause chattering when the thruster is used as the actuator, and the ideal control effect cannot be achieved;

[0101] In the present invention, only the torque requirement of the yaw axis is relatively large, and the torque requirements of the other two axes are very small. The flywheel and the CMG can be used in combination, that is, the yaw axis is controlled by two parallel ...

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Abstract

The invention relates to a rapid high-precision relative pointing control method of a noncoplanar rendezvous orbit, in particular to a feedforward PID (proportion, integration and differentiation) control based rapid high-precision relative pointing control method of the noncoplanar rendezvous orbit, and aims to solve the problem that rapid high-precision tracking-pointing control methods related to satellite attitudes under the noncoplanar rendezvous orbit do not exist in the prior art. The feedforward PID control based rapid high-precision relative pointing control method including adopting an Euler angle for attitude description of a spacecraft, creating dynamical and kinematical equations of the spacecraft, and acquiring an precise expected angle theta according to a noise-containing expected angle z by a Kalman filtering algorithm of a spaceborne computer; designing an attitude control law of each axis according to a formula of ; selecting two parallelly-placed single-frame control moment gyroscopes to control a yaw axis, and selecting two flywheels to control a rolling axis and a pitch axis respectively; calculating gyroscopic moment T and flywheel actual output moment uw to complete rapid high-precision relative pointing control of the noncoplanar rendezvous orbit. The feedforward PID control based rapid high-precision relative pointing control method is applicable to rapid high-precision relative pointing control of the noncoplanar rendezvous orbit.

Description

technical field [0001] The invention relates to a fast and high-precision relative pointing control method for intersecting fast-changing tracks with different planes. Background technique [0002] With the development of aerospace science and technology, space technology has been widely used in various fields. It can be said that space has existed as a resource that human beings rely on for survival and development. In order to make the satellite payload point to a specific target with a certain accuracy, it is first necessary to calculate the desired attitude when the satellite load line-of-sight axis points to the target according to the target position, and then track the desired attitude so that the satellite is in line with the commanded attitude under the influence of orbital motion and disturbance torque The deviation and relative rotation speed are kept within the allowable range. [0003] "Robust Backstepping Adaptive Attitude Maneuvering and Active Vibration Supp...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
Inventor 孙延超李传江朱津津赵文锐马广富苏雄飞姚俊羽
Owner HARBIN INST OF TECH
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