Attitude control method for flexible spacecraft without angular velocity measurement
A flexible spacecraft, attitude control technology, applied in attitude control, non-electric variable control, vehicle position/route/height control, etc. Good robustness and attitude stability
Inactive Publication Date: 2021-10-08
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology
[0002] The attitude controller designed by the traditional research institute needs the measurement data of the angular velocity sensor, which is expensive and prone to failure, which affects the application of the actual spacecraft control system and cannot guarantee excellent robustness
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[0008] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
[0009] The invention assumes that the modal variables η and ψ of the flexible spacecraft can be measured, and designs an asymptotically stable state feedback attitude control law based on the feedback linearization method.
[0010] Step 1 Establish kinematics equations and dynamic equations
[0011] The modified Rodrigues parameters are used to describe the attitude of the flexible spacecraft, and the kinematics and dynamics equations of the flexible spacecraft control system model based on this are as follows:
[0012] The modified Rodrigues parameters are used to describe the attitude of the flexible spacecraft, and the kinematic equation of the flexible spacecraft based on this is as follows:
[0013]
[0014] Among them, ω is the attitude angular velocity of the spacecraft, and G(σ) is expressed as the following formula:
[0015]
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The invention proposes an attitude control method for a flexible spacecraft without angular velocity measurement, using modified Rodrigues parameters to describe the attitude of the flexible spacecraft, establishing a kinematic equation based on the modified Rodrigues parameters, and using a mixed coordinate method Attitude dynamics equations are established for a flexible spacecraft with a central rigid body and flexible appendages. Aiming at the attitude control system model of flexible spacecraft described by the modified Rodrigues parameters, a passive filter is introduced to replace the angular velocity information, and an attitude control law based on state feedback without angular velocity measurement is designed. The invention solves the problem that the flexible spacecraft needs real-time measurement data of an angular velocity sensor to realize the stable control of the attitude of the spacecraft during the flight process, and completes the high robustness control of the flexible spacecraft. Simulation experiments prove that the attitude control method without angular velocity measurement in the present invention has good robustness.
Description
technical field [0001] The invention relates to the technical field of spacecraft control, in particular to an attitude control method for a flexible spacecraft without angular velocity measurement. Background technique [0002] The attitude controller designed by the traditional research institute needs the measurement data of the angular velocity sensor, which is expensive and prone to failure, which affects the application of the actual spacecraft control system and cannot guarantee excellent robustness. Contents of the invention [0003] Aiming at the defects or deficiencies in the prior art, the present invention provides an attitude control method for a flexible spacecraft without angular velocity measurement. Under the condition that the flexible modal variables can be measured, based on the modified Rodrigues parameter system model, An asymptotically stable state feedback attitude control law based on the feedback linearization method is designed, which can avoid t...
Claims
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IPC IPC(8): G05D1/08
CPCG05D1/0825
Inventor 张颖丁清澍吴爱国
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL