Flexible satellite attitude control method based on three-stage path planning

A technology of path planning and satellite attitude, which is applied in attitude control, space navigation equipment, space navigation aircraft, etc., can solve problems such as the difficulty in designing attitude maneuver control laws, and achieve the effect of expanding the realization of rapid maneuvering

Inactive Publication Date: 2017-12-15
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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Problems solved by technology

At the same time, in the process of satellite attitude maneuvering, in addition to the vibration of the flexible attachment, it is also subject to many different constraints, such as the constraint on the angular veloci

Method used

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  • Flexible satellite attitude control method based on three-stage path planning
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  • Flexible satellite attitude control method based on three-stage path planning

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specific Embodiment approach 1

[0024] Specific implementation mode 1. Combination Figure 1 to Figure 6 Describe this embodiment, a flexible and agile satellite attitude maneuver rolling optimization control method, the method is implemented by the following steps:

[0025] Step A: Set the reference reference coordinate system, establish the satellite attitude dynamics and kinematics equations with flexible attachments with the pyramid configuration CMG group as the actuator, and establish the vibration dynamics equation of the flexible attachments under the modal coordinate system; By defining new state variables, a nonlinear state-space equation for predicting future satellite attitude information is established;

[0026] Step B: According to the satellite attitude information measured at the current moment, the satellite attitude information in the predicted time domain is predicted through the discretized nonlinear state space equation, and the satellite attitude prediction output equation is establishe...

specific Embodiment approach 2

[0031] Specific embodiment two, combine Figure 1 to Figure 6 Describe this implementation mode, this implementation mode is an embodiment of a flexible and agile satellite attitude maneuver rolling optimization control method described in the first specific implementation mode, and its specific process is:

[0032] 1. Taking the inertial coordinate system as the reference coordinate system, the attitude dynamic equation is established as:

[0033]

[0034] In the formula, J s is the moment of inertia matrix of the satellite, w is the three-axis attitude angular velocity of the star, σ is the rigid-flexible coupling matrix between the flexible attachment and the star, η is the displacement of the flexible attachment in the modal coordinate system, H CMG is the triaxial angular momentum of the pyramid configuration CMG group, T d is the spatial disturbance moment. The control torque of the CMG group is where [w×] is expressed as:

[0035]

[0036] set theta x ,θ y...

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Abstract

Provided is a flexible satellite attitude control method based on three-stage path planning, relating to the technical field of satellite attitude control. A flexible satellites with pyramidal CMG group as the actuator is selected as the study object, a satellite attitude control method combing the three-stage attitude path planning and rolling optimization tracking is proposed, a nonlinear state-space equation including satellite attitude dynamics, kinematics and flexible attachment vibration is established for the accurate prediction of satellite attitude future information. Based on the three-stage path planning strategy, the flexible satellite attitude maneuvering time is optimally designed, the vibration of the flexible attachments can be avoided when the satellite attitude maneuvering target is completed. By means of the nonlinear model prediction method, the attitude angular velocity curve and attitude angle position curve obtained by planning are taken as the desired tracking targets to design the rolling optimization tracking control law of the frame angular velocity of the pyramidal CMG group, therefore, the attitude wide angle rapid maneuvering control for suppressing the vibration of the flexible attachments can be realized.

Description

technical field [0001] The invention relates to the technical field of satellite attitude control, in particular to a satellite attitude fast maneuvering control method, which is particularly suitable for the satellite attitude large-angle maneuvering control process with flexible accessories. Background technique [0002] In order to enhance the application efficiency of in-orbit satellites, one of the main technical approaches is to improve the rapid maneuverability of agile satellites and the high stability after maneuvering. The structure and configuration of in-orbit satellites are becoming increasingly complex and diverse, and the flexibility of the entire satellite is becoming more and more obvious. For example, installing large solar panels and antennas, etc., will not only affect the speed of maneuvering, but also affect the attitude stability after maneuvering. How to balance it The agility of satellite attitude control and the suppression of vibration of flexible ...

Claims

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Application Information

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IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 常琳范国伟徐伟杨秀彬王绍举王旻
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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