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

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...

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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

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