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An Anti-jamming Controller for Mars Lander under Unknown Frequency Harmonic Interference

A harmonic interference and lander technology, applied in attitude control, aerospace aircraft, aircraft and other directions, can solve the problems of inability to estimate and eliminate interference, poor adaptability, energy loss, etc., to enhance engineering application value and improve adaptability performance and anti-interference

Active Publication Date: 2017-06-06
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The anti-interference control method applied on the Mars lander at this stage can effectively eliminate the influence of interference in the system, but most of them still need to rely on the frequency information of the interference, design a new structure to estimate the interference and feed it back to the control system In order to offset the influence of interference, the adaptability to the situation of unknown frequency harmonic signals is relatively poor, and the original idea cannot be used to accurately estimate and eliminate interference
Another type of anti-interference method that does not require interference frequency information is to suppress the interference as a norm-bounded variable. This type of method is relatively conservative and will consume a lot of unnecessary energy

Method used

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  • An Anti-jamming Controller for Mars Lander under Unknown Frequency Harmonic Interference
  • An Anti-jamming Controller for Mars Lander under Unknown Frequency Harmonic Interference
  • An Anti-jamming Controller for Mars Lander under Unknown Frequency Harmonic Interference

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Embodiment Construction

[0069] Such as figure 1 Shown, the specific implementation steps of the present invention are as follows (below taking the Mars lander control system as an example to illustrate the specific realization of the method):

[0070] 1. Build the attitude kinematics and dynamics model of the Mars lander

[0071] The attitude kinematics and dynamics model of the Mars lander under the condition of unknown frequency harmonic interference is built as follows:

[0072]

[0073]

[0074]

[0075] in,

[0076]

[0077] J is the moment of inertia matrix of the lander and is taken as J 12 =J 13 =J 12 =J 23 =J 13 =J 23 =0,J 11 =963kg·m 2 , J 22 =1170kg·m 2 , J 33 =1382kg·m 2 , ω=[ω x ,ω y ,ω z ] T is the triaxial angular velocity ω 0 =[0.1,0.1,0.1] T rad / s, ω d =[0.01sin(πt / 75),0.02sin(πt / 75),-0.01sin(πt / 75)] T , σ=[σ x ,σ y ,σ z ] T is the triaxial Rodrigue parameter σ 0 =[-1,-1,1] T , σ d =[0.1,0.15,0.2] T , u=[u x ,u y ,u z ] T Represents three-...

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Abstract

The invention relates to a Mars lander anti-interference controller under the harmonic interference at an unknown frequency. Firstly, an attitude kinematics and dynamics model for a Mars lander is built up. Secondly, the harmonic influence caused by structural uncertainty during the severe friction with the atmosphere is determined for a lander engine, and the disturbing influence of the unknown-frequency harmonic on an interference observer is estimated. Furthermore, the compensation is conducted by a feed-forward path. Thirdly, a gesture instruction is tracked by a sliding-mode controller. Finally, the interference observer for the unknown-frequency harmonic and the sliding-mode controller are combined to construct an anti-interference controller. The anti-interference controller is strong in anti-interference property. Compared with a conventional Mars lander controller, the above Mars lander anti-interference controller is better in adaptability and anti-interference capability.

Description

technical field [0001] The invention relates to an anti-jamming controller for a Mars lander under unknown frequency harmonic interference. Aiming at the unknown frequency harmonic interference existing in the control system, the idea of ​​anti-interference control is adopted, which improves the performance of the control system compared with traditional controllers. Adaptability and anti-interference, enhanced engineering application value. Background technique [0002] In recent years, with the rapid development of aerospace technology, human exploration of space has become more and more frequent. Among the planets in the solar system, Mars is the closest planet to Earth that humans have explored. In order to explore the existence of water and life, humans have conducted many surveys on Mars. The lander is equipped with important loads such as the Mars rover. In order to accurately and safely transport the payload to the surface of Mars, it is necessary to be able to ove...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 郭雷徐健伟乔建忠许昱涵刘志兵
Owner BEIHANG UNIV
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