Anti-interference attitude control method based on the friction characteristics of a reaction wheel

Abstract

Provided is an anti-interference attitude control method based on the friction characteristics of a reaction wheel. To solve the problems about zero-crossing friction and low attitude control precision of a reaction wheel, the method includes the steps: establishing a spacecraft coupling kinetic equation containing the friction characteristics of the reaction wheel, designing a friction interference estimator because the reaction wheel brings friction interference, and estimating the friction of the reaction wheel in real time; designing a norminal controller to inhibit friction interference estimated errors and environment interference in a spacecraft system; and combining the norminal controller with the friction interference estimator, and designing a composite layered anti-interference controller to achieve spacecraft anti-interference attitude control under the influence of multi-source interference. According to the method, actuating mechanism dynamics are additionally applied to the spacecraft kinetic equation so as to better analyze the problem of the decreased control precision due to the characteristics of an actuating mechanism. The method can be used for high-precision attitude control over high-precision earth observation satellites, space telescopes and other spacecrafts in the aerospace field.

Description

technical field [0001] The invention relates to an anti-jamming attitude control method based on the friction characteristics of reaction wheels, in particular to a spacecraft anti-jamming attitude control method under multi-source interference including reaction wheel friction, environmental torque, etc., and the method can be used in the field of aerospace with high precision High-precision attitude control of spacecraft such as observation satellites and space telescopes. Background technique [0002] The reliability and long-term working stability of the spacecraft attitude control system have always been the key issues in the development of spacecraft. The reaction wheel is one of the most important inertial actuators in the spacecraft attitude control system. The long-life, high-precision, multi-functional three-axis stable satellites launched in recent years almost without exception use the reaction wheel as the main actuator. In the attitude control system of the sp...

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Problems solved by technology

[0003] The current design process of the spacecraft attitude controller is generally based on the model. Accurate model parameters can improve the attitude control accuracy of the spacecraft. In the past research process, the design of the attitude control system is not closely related to the characteristics of the actuator. In addition, for the space environment interference suffered by the spacecraft, some interference characteristics are also ignored, which is not fine enough, so that the accuracy of the spacecraft dynamic model is lacking, resulting in the design of the control method is not accurate enough, affecting The attitude accuracy and stability of the spacecraft system will have problems when facing actual engineering objects

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