A Method for Attitude Control and Shake Suppression of a Liquid-Filled Spacecraft
A liquid-filled spacecraft and attitude control technology, applied in attitude control, aerospace vehicles, motor vehicles, etc., can solve the problem of increasing the damping of shaking parts, finding the physical meaning of filter parameters, and achieving satisfactory control effects, etc. question
Active Publication Date: 2021-02-05
BEIJING INST OF CONTROL ENG
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Problems solved by technology
With the complexity of the current spacecraft mission, the increase of the structure of the spacecraft, and the increase of the structure of the liquid tank, the influence of liquid sloshing on the attitude system of the spacecraft has become more and more significant, which has brought great challenges to the controller design. challenge
In theory, although there are some controller design methods with proof of stability, it is generally required to know the swing angle, and the swing angle is not measurable
In engineering, the classic attitude control method of liquid-filled spacecraft is the controller in the form of PID+filter, but this control method needs to carefully adjust the parameters of the controller, and it is difficult to find a clear physical meaning of the filter parameters
This method is difficult to increase the damping of the shaking part, and it is difficult to achieve a satisfactory control effect
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[0215] Taking the attitude control of a typical lunar lander as an example, assume that the parameters of the spacecraft are as follows: moment of inertia J s =diag(3408.9,4844.2,4842.9)kg·m 2 , the mass of the rigid body m s =3088.7kg, mass of shaking part m p =195.4kg, lunar gravitational angular velocity g e =1.622m / s 2 , slosh damping ξ=0, equivalent pendulum length L p =0.2284m, the distance r from the equivalent pendulum suspension point to the center of mass tx =-1.1605m, actuator delay τ d = 0.1s. Interference torque d=[0,50,50]N·m. Initial attitude angle θ(0)=[0,20,20]deg, target attitude angle θ d =[0,0,0] deg. The controller parameter selection is: q vT =0.0349, ω T = 0.0524, k = 1.5003, k 1 =6,k 2 =9, Q 1 =0.07475,Q 2 =0.06725, ω f = 0.5, ξ f = 1,k fy =0.5,k fz =0.5, ΔT=0.1, N=60, L=20. Then, in each control cycle, the following steps are performed: Acquire the Euler angle θ of the spacecraft attitude according to step (1). Obtain rigid body ...
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The invention relates to a liquid-filled spacecraft attitude control and shake inhibition method, and belongs to the technical field of spacecraft attitude control. The method achieves the calculationand obtaining of an attitude control moment of a spacecraft in each control period. The method comprises the steps: obtaining rigid mode and shake mode estimation values in an attitude angle according to singular spectrum analysis and feature system implementation algorithm, and obtaining the quaternion rigid mode and shake mode estimation values; obtaining a partitioned quaternion control component according to a quaternion rigid mode and a partitioned quaternion controller; obtaining a positive position feedback control component according to a shake mode estimation value and a positive position feedback controller; finally carrying out the vector addition of the two components, and obtaining the attitude control moment of the spacecraft. The method can enable the attitude of the spacecraft to stably reach an expected value, increases the slosh damping, and enables the slosh angle to be higher in convergence rate.
Description
technical field [0001] The invention relates to a method for attitude control and shake suppression of a liquid-filled spacecraft, belonging to the technical field of spacecraft attitude control. Background technique [0002] Liquid sloshing is a common phenomenon during maneuvering of large spacecraft, and generally refers to the free movement of liquid in a rigid tank. With the complexity of the current spacecraft mission, the increase of the structure of the spacecraft, and the increase of the structure of the liquid tank, the influence of liquid sloshing on the attitude system of the spacecraft has become more and more significant, which has brought great challenges to the controller design. challenge. In theory, although there are some controller design methods with proof of stability, generally the swing angle is required to be known, but the swing angle cannot be measured. In engineering, the classic attitude control method of liquid-filled spacecraft is the control...
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IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 王泽国张洪华邓雅
Owner BEIJING INST OF CONTROL ENG