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Active disturbance rejection control method of spacecraft considering network transmission and actuator saturation

A technology of active disturbance rejection control and network transmission, used in adaptive control, aircraft, attitude control and other directions

Active Publication Date: 2018-12-21
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a spacecraft ADRC control method considering network transmission and actuator saturation for spacecraft attitude control affected by network transmission, internal and external disturbances, and control saturation constraints. Attitude control of spacecraft with time-varying nonlinear uncertainties such as actuator saturation and external disturbances, to ensure that it can successfully complete space orientation tasks within its own safety range

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  • Active disturbance rejection control method of spacecraft considering network transmission and actuator saturation
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  • Active disturbance rejection control method of spacecraft considering network transmission and actuator saturation

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Embodiment Construction

[0075] The present invention is described in further detail below in conjunction with accompanying drawing:

[0076] see figure 1 , the present invention considers the spacecraft ADRC control method of network transmission and actuator saturation, comprising the following steps:

[0077] Step 1: Build a spacecraft system attitude dynamics model with actuator saturation

[0078] The spacecraft considered in the present invention is approximately a rigid body, and by the moment of momentum theorem, its dynamic equation can be written as

[0079]

[0080] Among them, J=diag(J x ,J y ,J z ) is the moment of inertia matrix along the main inertia axis of the spacecraft body, diag(·) represents the diagonal matrix, ω=[ω x ,ω y ,ω z ] T is the vector of the instantaneous rotational speed of the spacecraft relative to the inertial coordinate system in the body coordinate system, the superscript T represents the vector or matrix transposition, and the oblique symmetric matrix...

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Abstract

The invention discloses an active disturbance rejection control method of a spacecraft considering network transmission and actuator saturation. The method includes the steps that firstly, a proper transition process is arranged for a desired attitude of a system by designing a tracking differentiator, and meanwhile a differential signal of an expected value is obtained to prepare for subsequent controller design; and then a nonlinear sampling extended state observer is designed by using an attitude angle measurement signal output from a network protocol, real-time estimation of a state in a spacecraft system and nonlinear uncertain items formed by coupling, external interference and so on is carried out, and an estimated value of the nonlinear uncertain items is compensated to an error feedback control rate containing an anti-saturation compensator. The active disturbance rejection control method of the spacecraft considering network transmission and actuator saturation can not only avoid the adverse effect of nonlinear factors such as internal and external interference on the system, but also ensure that an actuator can precisely control the spacecraft attitude within the saturation range, and provide guarantee for successful completion of space operation tasks. The active disturbance rejection control method of the spacecraft considering network transmission and actuator saturation has good control effect, and can be widely used in other nonlinear networked control systems.

Description

technical field [0001] The invention belongs to the field of servo control of a networked control system of a space robot, and relates to a spacecraft self-disturbance rejection control method considering network transmission and actuator saturation. Background technique [0002] Attitude control of a spacecraft is the process of orienting the spacecraft in a specified or predetermined reference direction, but the orbiting spacecraft is inevitably disturbed by various external environments such as gravity gradient moments, solar pressure moments, and aerodynamic moments. And internal disturbances such as the rotation of the active parts of the payload, the installation error of the flywheel, the friction that is difficult to accurately model, and the coupling of the flexible structure. Therefore, spacecraft attitude control is a multi-input multi-output, strongly coupled uncertain nonlinear system. In order to ensure precise attitude control of spacecraft in complex environ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/08
CPCB64G1/244G05B13/042G05B13/048
Inventor 袁源于洋袁建平孙冲
Owner NORTHWESTERN POLYTECHNICAL UNIV
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