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Input saturation spacecraft unwinding-free attitude tracking control method

A technology of tracking control and spacecraft, applied in the directions of attitude control, transportation and packaging, adaptive control, etc., which can solve the problems of unwinding phenomenon of attitude control and limitation of engineering applicability of control methods, etc.

Active Publication Date: 2018-10-12
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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Problems solved by technology

However, the above method does not consider the influence of parameter uncertainty and external disturbance while considering the saturation characteristics of the actuator, nor does it consider the unwinding phenomenon of attitude control at the same time, which limits the engineering applicability of the above existing control methods

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  • Input saturation spacecraft unwinding-free attitude tracking control method
  • Input saturation spacecraft unwinding-free attitude tracking control method
  • Input saturation spacecraft unwinding-free attitude tracking control method

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Embodiment Construction

[0104] In order to make the purpose, technical solutions and beneficial effects of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be noted that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0105] see figure 1 , the input saturation spacecraft non-unwinding attitude tracking control method provided by the present invention comprises the following steps:

[0106] Step S100: Input command attitude (R d ,ω d );

[0107] The command posture includes a command direction cosine matrix R d and command angular velocity vector ω d .

[0108] Step S200: calculating the attitude error amount, calculating the error amount between the command attitude and the actual attitude;

[0109] The actual attitude here refers to the real-time attitude made by the controlled spacecraft after r...

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Abstract

The invention discloses an input saturation spacecraft unwinding-free attitude tracking control method. The input saturation spacecraft unwinding-free attitude tracking control method includes the steps: calculating the error attitude according to a given command attitude and a practical attitude, then designing a control law according to a backstepping method, including designing a virtual control law and designing a feedback control law by using nonlinear damping, and finally using an extended state observer to estimate the lumped disturbance item in real time so as to obtain an attitude tracking control quantity u; and controlling the spacecraft by means of the control quantity u. The spacecraft system controlled by the input saturation spacecraft unwinding-free attitude tracking control method can track the command attitude with high precision under the condition that the moment of inertia is unknown, and the external disturbance exists, and the input is saturated. Compared with atraditional input saturation attitude control method, the input saturation spacecraft unwinding-free attitude tracking control method has anti-interference and strong robustness, and provides an effective scheme for engineering implementation of attitude tracking control.

Description

technical field [0001] The invention relates to an attitude tracking control method for an input-saturated spacecraft without unwinding, and belongs to the field of automatic control. Background technique [0002] In the existing spacecraft attitude control methods, parametric description methods are often used to express the attitude of the spacecraft, such as Euler angles, quaternions, modified Rodrigue parameters, etc. However, these parametric description methods cannot be global And uniquely describe the complete attitude construction space, it may also cause the unwinding phenomenon of the attitude closed-loop system under the control. The unwinding phenomenon will cause the attitude control task that can be completed with only a small-angle attitude maneuver, but it must be realized through a large-angle attitude maneuver in the opposite direction, causing unnecessary control burden. [0003] At present, two methods are mainly used to avoid the unwinding problem: one...

Claims

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
CPCB64G1/244G05B13/042
Inventor 杨雅君杨雪榕张学阳潘升东辛朝军胡敏
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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