Method of designing multi-channel linear active disturbance rejection controller

A linear self-disturbance rejection and design method technology, applied in attitude control, space navigation equipment, aircraft, etc., can solve the problems of high installation cost, high quality of gyroscope, high failure rate, etc.

Active Publication Date: 2017-06-20
BEIHANG UNIV
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Problems solved by technology

[0003] The traditional attitude control of the spacecraft to the ground needs to obtain the attitude information of the spacecraft and the angular velocity information of the spacecraft relative to the inertial system based on components such as gyroscopes and star sensors. , high failure rate, high installation cost and other factors, you can choose not to install

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  • Method of designing multi-channel linear active disturbance rejection controller
  • Method of designing multi-channel linear active disturbance rejection controller
  • Method of designing multi-channel linear active disturbance rejection controller

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Embodiment Construction

[0059] The method of the present invention will be described in further detail below in conjunction with the accompanying drawings.

[0060] Such as figure 1 As shown, the present invention proposes a method of ADRC attitude control for flexible spacecraft, and its detailed implementation steps are as follows:

[0061] Step 1: Rewrite the dynamics and kinematics equations of the flexible spacecraft to obtain the form suitable for ADRC design

[0062] The spacecraft kinematics equation described based on Euler angles can be written as

[0063]

[0064] in, θ and ψ represent the roll angle, pitch angle and yaw angle of the spacecraft respectively, ω b =[ω x ω y ω z ] T is the component array represented by the angular velocity of the body coordinate system relative to the inertial system in this system, is the Euler angular velocity array, ω 0 is the orbital angular velocity,

[0065]

[0066]

[0067] Assuming that the translation of the central rigid bod...

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Abstract

The invention relates to a method of designing a multi-channel linear active disturbance rejection controller, comprising the following steps: S1, rewriting the dynamics and kinematics equations of a flexible spacecraft, and getting a form suitable for designing an active disturbance rejection controller; S2, designing a third-order linear extended state observer to estimate the system state quantity and the total internal and external disturbances; and S3, designing a multi-channel linear active disturbance rejection controller by use of generalized disturbance estimated by the observer. The method has the advantages possessed by the traditional active disturbance rejection control method, does not need to know the accurate mathematical model of the system, and has characteristics such as less overshoot, high precision, strong adaptability, high stability and strong robustness. In addition, the control law is improved for spacecrafts with inertial gyro failure on the basis of an active disturbance rejection controller, the control law is designed by using the observed state of the observer to replace the attitude angle and attitude angular velocity information of a spacecraft, and a fault-tolerant control method is provided for the condition of gyro failure.

Description

Technical field: [0001] The present invention studies the problem of ADRC attitude control under the measurement of inertial angular velocity without gyroscope or gyroscope system failure, and designs a closed-loop multi-channel linear active disturbance rejection controller (LADRC) for flexible spacecraft without gyroscope. The invention can be applied to three-axis attitude stabilization control, large-angle attitude maneuvering and attitude tracking within a certain range of flexible spacecraft, has the advantages of high precision, high stability and strong robustness, and belongs to the technical field of spacecraft attitude control. Background technique: [0002] The new-generation spacecraft are generally large flexible multi-body space structures, and the control of such systems is a complex and strongly nonlinear problem. In addition to the problem of complex models, flexible spacecraft will also be disturbed by internal and external factors such as vibration of acc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 李迎杰金磊
Owner BEIHANG UNIV
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