An Input Shaping Control Method for a Single-Axis Maneuvering Spacecraft

Abstract

The invention relates to an input forming control method of a single-shaft maneuverable spacecraft. The method comprises the steps that S1, the posture and posture angular velocity motion path of the spacecraft are planned according to the task requirement of the spacecraft with a flexible accessory, and the state equation of posture motion of the spacecraft is set up; S2, a simplified system feature matrix is applied to approximately calculating a feature value corresponding to the flexible accessory of the spacecraft, and the equivalent vibration frequency of the flexible accessory is calculated; S3, the conjugating feature value of an input former is calculated, parameters of the input former are obtained, and design of the input former is completed; S4, an angular acceleration feedback item is added into a controller of the spacecraft, and residual vibration caused by simplification of the posture motion state equation is compensated for. The method is suitable for the single-shaped motorized equation around the Euler shaft, the solving purpose of a nonlinear system equation is achieved by simplifying a system feature matrix, and the residual motion caused by simplification of the system feature matrix is eliminated through angular acceleration compensation.

Description

technical field [0001] The invention relates to an input shaping control method, in particular to an input shaping control method suitable for a spacecraft maneuvering about a single axis around an Euler axis, capable of suppressing vibrations excited during the maneuvering process, and realizing fast maneuvering and fast stabilization of attitude. Background technique [0002] With the increasingly diversified tasks and functions of modern spacecraft platforms, higher requirements are put forward for the control accuracy and stability of the spacecraft, especially the rapid maneuverability. However, for a spacecraft with a flexible attachment, how to reduce the impact of the vibration of the flexible attachment on the control system during rapid maneuvering is particularly important. [0003] The traditional input shaping method is a shaping method for open-loop control torque. If the input shaper is directly added to the torque output end of the closed-loop controller, it ...

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Problems solved by technology

[0003] The traditional input shaping method is a shaping method for open-loop control torque. If an input shaper is directly added to the torque output end of the closed-loop controller, not only will the vibration not be eliminated, but it will cause the system to oscillate

However, the widely used input shaping method is mainly limited to the linear control system. For the attitude fast maneuvering control system, both the kinematic equation of the spacecraft and the attitude controller of the spacecraft need to add nonlinear links, while Existing input shaping methods cannot be applied to vibration suppression methods containing nonlinear links

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