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Flexible satellite neural network backstepping sliding mode attitude control method
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A flexible satellite and backstepping sliding mode technology, which is applied in attitude control and other directions, can solve the problems of antenna rotation disturbance, steady-state accuracy and stability, and needs to be improved.
Active Publication Date: 2015-09-09
HARBIN INST OF TECH
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Problems solved by technology
[0010] The invention aims to solve the disturbance problem caused by the flexible vibration of the sailboard and the rotation of the antenna, as well as the problem that the steady-state accuracy and stability of the existing attitude control method need to be improved
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specific Embodiment approach 1
[0047] Specific embodiment one: a kind of flexible satellite neural network backstepping sliding mode attitude control method, comprises the following steps:
[0048] Step 1: Establish a flexible satellite attitude dynamic model:
[0049] The attitude dynamics model of the flexible satellite is established by using the hybrid coordinate method, and the dynamic equation containing two sailboards and a moving antenna has the following form:
[0050] I s ω · s + ω s × I s ω s + Σ ...
specific Embodiment approach 2
[0070] Specific implementation mode two: the specific implementation process of step 2 described in this implementation mode is as follows:
[0071] Using Euler angles to describe the satellite attitude, and considering the X-Y-Z sequence, the corresponding rotation attitude angles are the satellite attitude roll angles Satellite attitude pitch angle θ and satellite attitude yaw angle ψ, when the satellite is in inertial orientation flight, ω s Expressed as
[0072]
[0073] From the above formula, the satellite attitude kinematics equation is
[0074]
[0075] Figure 5 is a schematic diagram of a satellite structure with a moving antenna; Figure 5 Shown, where the coordinate system OX b Y b Z b is the satellite body coordinate system, OX a1 Y a1 Z a1 is the antenna support arm coordinate system, OX a Y a Z a is the coordinate system of the antenna body; assuming that the antenna is installed in the negative direction of the yaw axis of the satellite body,...
specific Embodiment approach 3
[0100] Specific implementation mode three: the specific implementation process of step 3 described in this implementation mode is as follows:
[0101] Step 3.1, set tracking error z 1 =x d -x 1 ; x d is the reference input, x d When it is 0, there is z 1 =-x 1 ;
[0102] Virtual control amount z 2 = z · 1 + c 1 z 1 = - x 2 + c 1 z 1 , but z · 1 = z 2 - c 1 z 1 , where c 1 is the parameter to be designed, c 1 >0;
[0103] Take the Lya...
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Abstract
The invention provides a flexible satellite neural network backstepping sliding mode attitude control method, relates to a flexible spacecraftattitude control method, and aims at solving a problem of perturbation generated by plate flexible vibration and antenna rotation and a problem of enhancement of steady state precision and stability of existing attitude control methods. According to the method, a flexible satellite attitude kinetic model is established firstly according to a spacecraft, and then a model formula is processed; a sliding mode attitude controller (which is expressed in the specification) based on a backstepping method is designed; then an RBF neural network approach (eta+htau)sgn(sigma) is adopted; the controller (which is expressed in the specification) is designed; and finally a complete attitude controller (which is expressed in the specification) is obtained. A three-axis attitude controller is designed respectively according to the aforementioned process. The flexible satellite neural network backstepping sliding mode attitude control method is suitable for the field of flexible spacecraft attitude control.
Description
technical field [0001] The invention relates to a method for controlling the attitude of a flexible spacecraft. Background technique [0002] With the rapid progress of science and technology and the continuous development of social economy, human beings have explored space more deeply, and the aerospace industry of various countries has developed rapidly and achieved dazzling achievements. Since the former Soviet Union launched the world's first artificial earth satellite in the 1950s, the research on application satellites with various functions has formed a new direction of the aerospace industry, including scientific experiment satellites, meteorological satellites and communication satellites. They are of great value economically, militarily, scientifically, educationally and culturally. [0003] The satellite with large flexible solar panels and flexible or rigid tracking antenna is a large flexible multi-body spacestructure system. There is a strong coupling effect...
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