Flexible satellite locus linearization attitude control method based on disturbance observer

A trajectory linearization, interference observer technology, applied in attitude control and other directions, can solve problems such as weak interference suppression ability and poor robustness

Active Publication Date: 2016-04-06
HARBIN INST OF TECH
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  • Application Information

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Problems solved by technology

[0051] The present invention is to solve the current research on interference suppression of flexible spacecraft. The single trajectory linearization control method has weak interference suppression ability and poor robustness

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  • Flexible satellite locus linearization attitude control method based on disturbance observer
  • Flexible satellite locus linearization attitude control method based on disturbance observer
  • Flexible satellite locus linearization attitude control method based on disturbance observer

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specific Embodiment approach 1

[0086] Specific embodiment one: a kind of attitude control method of flexible satellite trajectory linearization based on disturbance observer comprises the following steps:

[0087] Key steps of the present invention:

[0088] 1. Satellite attitude control

[0089] The attitude control of the satellite includes attitude determination, attitude stabilization control and attitude maneuvering control. Attitude determination is to study the orientation or direction of the spacecraft relative to a reference datum, and then obtain the attitude angle parameters, and its accuracy depends on the accuracy of the attitude sensor and attitude algorithm. Attitude stabilization control is to keep the attitude of the aircraft in the expected direction and specified value. Attitude maneuvering is the process of reorienting an aircraft from one attitude to another. The patent of the present invention mainly conducts in-depth research on the attitude tracking control of the flexible satelli...

specific Embodiment approach 2

[0251] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the specific process of dynamic modeling of the flexible spacecraft in the step 1 is:

[0252] The hybrid coordinate method is used to describe the motion of the spacecraft with flexible appendages, that is, the central rigid body uses the coordinates (such as Euler angles) that usually describe the attitude of the rigid body, and the flexible appendages are described using discrete modal coordinates. In this way, a dynamic model that can accurately describe the motion of the spacecraft and is convenient for the analysis and design of the spacecraft control system is established.

[0253] Regardless of the rotation of the sail relative to the spacecraft body, the dynamic equation of the flexible spacecraft is as follows:

[0254] J ω · + ...

specific Embodiment approach 3

[0257] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the differential form of the control variable appears in the nominal control in the step two, and a quasi-differentiator is needed to obtain the derivative of the nominal state. The present invention uses a first-order A quasi-differentiator of the form:

[0258] G d i f f ( s ) = s ( 1 ω n , d i f f s + 1 ) - - - ( 17 ...

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Abstract

The invention relates to a flexible satellite locus linearization attitude control method based on a disturbance observer. The invention aims at solving problems that a single locus linearization control method is poor in capability of inhibiting interference, is poorer in robustness, and does not consider external interference and the impact from flexible accessories. The method comprises the steps: employing Euler angles for describing attitudes of a spacecraft, employing an idea of equivalent disturbance, and building a flexible spacecraft dynamics and kinetics equation; solving the pseudo-inverse of a controlled object under the condition of neglecting equivalent disturbance, designing a quasi-differentiator of a specific type, and obtaining the nominal control of an expected locus; and designing a linear time varying adjuster through proportion-integration control. The method gives consideration to the influence of equivalent disturbance, designs the disturbance observer, and guarantees the asymptotic convergence of a tracking error of a flexible spacecraft. The method improves the anti-interference capability of a system, and improves the robustness of the system. The method is used in the attitude control field of flexible satellites.

Description

technical field [0001] The invention relates to a method for controlling the linearized attitude of a flexible satellite trajectory based on an interference observer. Background technique [0002] With the development of the times and the progress of society, human exploration of outer space has risen to a new height. China has entered the ranks of space powers. Aerospace technology plays a vital role in the national economy, national defense construction, cultural education and scientific research, and is a concentrated expression of the country's comprehensive strength. [0003] Aerospace technology is a comprehensive engineering technology formed by applying the theory of astronautics to the research, design, manufacture, test, launch, flight, return, control, management and other engineering practices of spacecraft and vehicles. The satellite system includes seven parts: position and attitude control system, antenna system, transponder system, telemetry command system,...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 马广富孙延超耿远卓马晶晶李传江邱爽
Owner HARBIN INST OF TECH
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