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Spacecraft fault tolerance attitude cooperation tracking control method based on normalized neural network

A neural network and tracking control technology, applied in attitude control and other directions, can solve problems affecting the stability of the control system, chattering, large control torque, etc.

Active Publication Date: 2016-03-16
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

However, when the disturbance of the system changes suddenly and the actuator fails, a large control torque will be generated, and chattering will occur, which will affect the stability of the control system

Method used

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  • Spacecraft fault tolerance attitude cooperation tracking control method based on normalized neural network
  • Spacecraft fault tolerance attitude cooperation tracking control method based on normalized neural network
  • Spacecraft fault tolerance attitude cooperation tracking control method based on normalized neural network

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Embodiment Construction

[0046] In order to better illustrate the purpose and advantages of the present invention, the technical solutions of the present invention will be further elaborated below in conjunction with the accompanying drawings and embodiments.

[0047] The attitude control flow chart of the spacecraft attitude of the present invention is as follows: figure 1 shown.

[0048] 1. Control law design based on input normalized neural network.

[0049] Step 1, establish the attitude motion model of a single spacecraft:

[0050] The formation system is composed of n rigid-body spacecraft, numbered 1, 2,..., n, and the expected attitude of the formation is given by the "virtual leader", whose number is 0. Among them, the unit quaternion attitude dynamics equation is established in the spacecraft body coordinate system, and the attitude dynamics and kinematics equations of the ith (i=1,2,...,n)th spacecraft are as follows:

[0051]

[0052] Among them, J i ∈R 3×3 is the inertia matrix of...

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Abstract

The invention relates to a spacecraft fault tolerance attitude cooperation tracking control method based on a normalized neural network, and belongs to the technical field of spacecraft formation flight. According to the method, an attitude motion model of a single spacecraft is built, errors are defined, a control law is designed for the model, a sliding mode function is designed, the derivative of the sliding mode function is solved, an error model is obtained, a control law based on an input normalized neural network is designed, and the states of the spacecrafts are cooperative and consistent; each spacecraft calculates the required control torque according to attitude information of itself and the adjacent spacecraft, the calculated control torque is acted on the corresponding spacecraft via an execution mechanism of each spacecraft, the angular velocity is solved via an obtained attitude dynamic equation, a unit quaternion attitude tracks an expected attitude via the attitude dynamic equation, and consistent attitude of the spacecraft formation is finally realized. According to the method, estimation errors of non-linear function approximation are reduced, the calculating time is reduced, and the convergence rate and the control precision of the system are increased.

Description

technical field [0001] The invention relates to a space vehicle fault-tolerant attitude cooperative tracking control method based on a normalized neural network, and belongs to the technical field of space vehicle formation flight. Background technique [0002] Spacecraft formation flight refers to the use of multiple small spacecraft to communicate and cooperate with each other to complete complex space tasks, so the formation flight technology has emerged at the historic moment and has attracted widespread attention from all over the world. However, in the actual process, there are external disturbances, internal disturbances, and unfavorable conditions such as the uncertainty of spacecraft parameters, which make it difficult for spacecraft to complete tasks. [0003] Attitude control is an extremely important factor affecting the success or failure of spacecraft formation missions. In the actual attitude control system, the control torque provided by the actuator is ofte...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 董宁袁彬彬刘向东陈振
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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