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A Spacecraft Attitude Output Feedback Tracking Control Method Considering Control Constraints

A technology of tracking control and output feedback, applied in attitude control, adaptive control, general control system, etc., can solve the problems of limited control, angular velocity information cannot be directly measured external disturbance and control, spacecraft angular velocity cannot be directly measured, etc. Achieve the effect of good engineering practicability

Active Publication Date: 2018-03-09
BEIHANG UNIV
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Problems solved by technology

[0004] The technical problem solved by the present invention is to provide an attitude tracking output feedback controller without angular velocity information feedback and satisfying control input constraints in view of the fact that the angular velocity information cannot be directly measured when the spacecraft is in orbit, and the external disturbance and control are limited. The control method solves the problem that the angular velocity of the spacecraft cannot be directly measured and the control is limited

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  • A Spacecraft Attitude Output Feedback Tracking Control Method Considering Control Constraints
  • A Spacecraft Attitude Output Feedback Tracking Control Method Considering Control Constraints
  • A Spacecraft Attitude Output Feedback Tracking Control Method Considering Control Constraints

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Embodiment Construction

[0025] like figure 1 Shown, the specific implementation steps of the present invention are as follows (below taking the attitude tracking process when the spacecraft works in orbit as an example to illustrate the specific implementation of the method)

[0026] The first step is to establish the spacecraft dynamics model and attitude tracking error dynamics model with external disturbances;

[0027] The angular velocity information of the spacecraft is set in the spacecraft body coordinate system, its origin o is defined at the center of mass of the spacecraft, and the entire coordinate system is fixed to the spacecraft; the oz axis is also called the yaw axis, and the y axis is also called Pitch axis, ox axis is also called roll axis, and the three are respectively parallel to the inertial reference coordinate axis (gyroscope sensitive axis) fixed to the spacecraft. This coordinate system is as follows figure 1 As shown, the spacecraft kinematics and dynamics model with exter...

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Abstract

The invention discloses a spacecraft attitude output feedback tracking control method giving consideration to limited control. Aiming at a problem that the angular speed information cannot be measured directly when a spacecraft works in orbit, and a problem of external disturbance and a problem of limited control, the invention proposes an attitude tracking output feedback controller design method, which has no angular speed information feedback and meets the requirement of limited control input. The method comprises the following steps: firstly building a spacecraft attitude tracking error dynamical model comprising external disturbance; secondly designing a dynamic angular velocity observer; and finally designing an output feedback control method meeting the requirement of limited control input based on angular velocity estimation information through employing the characteristics of a saturation function. The method achieves the independent design of the angular velocity observer of a spacecraft attitude control system and the decoupling of the controller, can achieve the effective online estimation of the angular velocity information, is robust for the external disturbance and limited input saturation, and is suitable for a moving object attitude tracking control system when a spacecraft works in orbit.

Description

technical field [0001] The invention relates to a spacecraft attitude output feedback tracking control method considering control limitation, which is mainly applied to the attitude tracking control of a moving target when the spacecraft is working in orbit. Background technique [0002] Spacecraft need to complete tasks such as formation flight, rendezvous and docking, earth observation and imaging tracking when working in orbit, and spacecraft attitude tracking control is a key technology to realize spacecraft tracking tasks. In recent years, it has attracted the attention of researchers in this field and achieved Good research results. However, due to the influence of many uncertain factors when the spacecraft is actually in orbit, the attitude tracking control of the spacecraft still faces great difficulties and challenges, and has the characteristics of diverse tasks, complex structures, and unknown environments. [0003] Aiming at the problem of spacecraft attitude tra...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/08
CPCG05B13/042G05D1/0825
Inventor 胡庆雷牛广林郭雷
Owner BEIHANG UNIV
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