Multisource disturbance actuator saturation integrated spacecraft relative attitude control method

Abstract

The invention discloses a multisource disturbance actuator saturation integrated spacecraft relative attitude control method. The method includes: starting from spacecraft relative attitude kinematicand kinetic equations to perform characteristic analysis and classification of multisource disturbances in a system; then, estimating disturbances with different characteristics by taking advantages of estimation performances of a disturbance observer, a radial basis function neural network and an extended state observer; next, designing an anti-saturation compensator to avoid damages caused by saturation upper limit exceeding of a spacecraft execution mechanism; finally, designing a composite controller according to a backstepping method on the basis of multisource disturbance observation values and anti-saturation compensation items. Therefore, adverse effects of multisource disturbances on the system are avoided, system robustness is improved, accurate spacecraft relative attitude control in a saturation range is guaranteed by the execution mechanism, and smoothness in space operation task completion is guaranteed.

Description

technical field [0001] The invention belongs to the technical field of spacecraft attitude control, in particular to a method for controlling the relative attitude of a spacecraft with multi-source disturbance and actuator saturation. Background technique [0002] The relative attitude control of spacecraft is an important part in the process of space rendezvous and docking. During space operations, the status information of the spacecraft can only be measured by means of ground-based, space-based or mission spacecraft spaceborne measurement equipment. Considering the measurement method and measurement accuracy of the measurement equipment, the space-complex measurement environment (such as space obstacles, the effects of various perturbations, etc.), the diversification of the measured parameters (such as relative position, relative speed, relative attitude and its changes rate, etc.), the types of measurable information are not only reduced, but also contain measurement e...

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Problems solved by technology

[0004] Aiming at the problem that the relative attitude control of spacecraft is affected by multi-source disturbance and control saturation constraints, the present invention takes the spacecraft relative attitude control system with multi-source disturbance and actuator saturation as the research object, and provides a multi-source disturbance and actuator saturation control system. The relative attitude control method of the spacecraft is used to control the relative attitude of the spacecraft with actuator saturation and multi-source disturbance, so as to ensure that it can successfully complete the docking work within its own safety range

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