A h-infinite attitude controller and control method based on modal structure decomposition

An attitude controller and controller technology, applied in the direction of attitude control, etc., can solve problems such as low calculation speed, high controller order, and no similar technology reports, and achieve the effect of reducing difficulty

Active Publication Date: 2019-01-11
BEIJING INST OF CONTROL ENG
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Problems solved by technology

However, H ∞ The important disadvantage of the controller is that the order of the generated controller is usually relatively high, which is generally equal to the sum of the order of the controlled object and the weight function
For spacecraft attitude dynamics equations containing resonance modes such as flexural vibration and liquid sloshing, it often leads to a higher-order controller, which is unacceptable for on-board computers with low calculation speed
[0004] After searching domestic and foreign patent literature and non-patent literature, there is no similar technical report at home and abroad

Method used

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  • A h-infinite attitude controller and control method based on modal structure decomposition
  • A h-infinite attitude controller and control method based on modal structure decomposition
  • A h-infinite attitude controller and control method based on modal structure decomposition

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Embodiment Construction

[0035] Such as figure 2 Shown, the inventive method is concretely realized as follows:

[0036] The first step is to calculate the transfer function of the spacecraft with flexibility and liquid sloshing as follows:

[0037] (1) Linearize the attitude dynamics equation of the spacecraft with flexibility and liquid sloshing, and write it in the following form:

[0038]

[0039] Among them, the first equation is the momentum moment equation, the second equation is the linear momentum equation, the third equation is the flexible vibration equation, and the fourth is the liquid sloshing equation; is the translational acceleration of the center of mass, ω bs is the rotational angular velocity of the spacecraft body, q i ,i=1,2,...,n 1 is the coordinate of the flexible vibration mode, r k ,k=1,2,...,n 2 is the liquid sloshing mode coordinate; m k is the diagonal matrix of the mass of the sloshing liquid, J is the inertia matrix of the system relative to the center of mas...

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Abstract

The invention relates to an H-infinite attitude controller and a control method based on modal structure decomposition. The controller and the control method are designed for a spacecraft attitude dynamics system with resonant modes like flexible vibration and liquid sloshing. The control method comprises the following steps: (1) extracting a transfer function of a controlled system according to the state equation of an attitude dynamics system with flexible vibration and liquid sloshing modes; (2) decomposing the controlled system into a form of adding a rigid mode and a resonant mode together; (3) designing a resonant mode weighted function in the form of constant value; (4) designing a weight function related to error and control; and (5) converting a closed-loop system into the standard form of H-infinite controller solving and carrying out solving.

Description

technical field [0001] The present invention relates to a kind of H infinite (H ∞ ) attitude controller and a control method, belonging to the field of control engineering. Background technique [0002] In order to suppress the influence of the flexible vibration of the sailboard and the liquid sloshing of the tank on the attitude of the spacecraft, the controller in the form of PID+structure filter is generally used in engineering to control the attitude. However, the traditional PID+structure filter needs to rely on personal experience to select control parameters. Generally, experienced designers need to iterate repeatedly to obtain satisfactory control performance, and it is difficult to pass artificial parameters in the case of severe resonance mode coupling. Adjust and design a controller with satisfactory performance. [0003] h ∞ The controller transforms the problem from adjusting the structural filter parameters to adjusting each weight function, which is a rela...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
Inventor 胡锦昌刘涛褚永辉段晨阳高磊徐阳颜军
Owner BEIJING INST OF CONTROL ENG
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