Anti-interference attitude control method for Mars lander with uncertain rotational inertia

A technology of moment of inertia and attitude control, applied in the direction of the guidance device of space navigation vehicle, can solve the problem of inability to guarantee the attitude control accuracy of the lander, and achieve the effect of improving engineering application value, anti-interference and adaptability

Active Publication Date: 2016-09-21
BEIHANG UNIV
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Problems solved by technology

However, the traditional attitude control method mainly considers the accuracy of the attitude control system, and ignores the uncertain moment of inertia and gusts that the Mars lander will face during flight. As a result, the attitude control accu

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  • Anti-interference attitude control method for Mars lander with uncertain rotational inertia
  • Anti-interference attitude control method for Mars lander with uncertain rotational inertia
  • Anti-interference attitude control method for Mars lander with uncertain rotational inertia

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[0049] Such as figure 1 As shown, the specific implementation steps of the present invention are as follows (the following takes the Mars lander attitude control system as an example to illustrate the specific implementation of the method):

[0050] 1. Build the attitude kinematics and dynamics model of the Mars lander with uncertain moment of inertia

[0051] The posture kinematics and dynamics model of Mars lander with uncertain moment of inertia is constructed as follows:

[0052] X 1 : J ω · e = - [ ( ω e + R ( σ e ) ω d ) X ] J ( ω e + R ( σ e ) ω d ) + J ( [ ω e X ] R ( σ e ) ω d - R ( σ e ) ω · d ) + u + d

[0053] X 2 : σ · e = G ( σ e ) ω e

[0054] X 3 : G ( σ e ) = 1 2 ( 1 - σ e T σ e 2 I 3 ...

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Abstract

The invention relates to an anti-interference attitude control method for a Mars lander with uncertain rotational inertia. The anti-interference attitude control method comprises the steps that firstly, an attitude kinematics and dynamics model of the Mars lander with the uncertain rotational inertia is established; secondly, aiming at the influence brought by the uncertain rotational inertia of the Mars lander, a self-adaptive controller is designed to estimate the uncertain rotational inertia; thirdly, the interference influence of gust on the Mars lander is estimated through a nonlinear interference observer, and then the gust estimated value is fed back to a control system to be subjected to feedforward offset; and finally, the nonlinear interference observer, the self-adaptive controller and a sliding mode controller for ensuring the system attitude precision are composited, so that the anti-interference attitude control method for the Mars lander with the uncertain rotational inertia is constructed. The anti-interference attitude control method for the Mars lander with the uncertain rotational inertia has the characteristics of being high in anti-interference performance and adaptability, and compared with a traditional Mars lander attitude control method, the practical engineering value is higher.

Description

Technical field [0001] The invention relates to an anti-jamming attitude control method for a Mars lander with an uncertain moment of inertia. Aiming at the attitude control problem of a Mars lander with an uncertain moment of inertia under the influence of gusts, a nonlinear disturbance observer and adaptive sliding mode control are adopted The combined thinking improves the anti-interference and adaptability of the Mars lander compared with traditional control methods, and improves the engineering application value. Background technique [0002] To explore the origin of the universe, seek signs of life, and understand the objective world, exploring outer space is a persistent dream of mankind. With the continuous maturity of space technology and the gradual accumulation of experience, mankind's footsteps in outer space exploration have moved from the moon to Mars. Similar to lunar exploration, the lander, as the most direct means for humans to understand the planet, plays a vi...

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Application Information

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IPC IPC(8): B64G1/28
CPCB64G1/28
Inventor 郭雷徐健伟乔建忠许昱涵张培喜
Owner BEIHANG UNIV
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