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Backstepping Adaptive Sliding Mode Large Angle Attitude Maneuvering Control Method for Rigid Body Spacecraft

An adaptive sliding mode, spacecraft technology, applied in adaptive control, attitude control, non-electric variable control and other directions, can solve the problems of not considering the spacecraft, long transient response time, etc.

Active Publication Date: 2021-09-14
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

[0002] In the traditional attitude control algorithm, the perturbation of the moment of inertia of the spacecraft is not considered, and the traditional sliding mode control algorithm has chattering problems, and the transient response time is long

Method used

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  • Backstepping Adaptive Sliding Mode Large Angle Attitude Maneuvering Control Method for Rigid Body Spacecraft
  • Backstepping Adaptive Sliding Mode Large Angle Attitude Maneuvering Control Method for Rigid Body Spacecraft
  • Backstepping Adaptive Sliding Mode Large Angle Attitude Maneuvering Control Method for Rigid Body Spacecraft

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Embodiment Construction

[0081] The present invention will be further described below in conjunction with the description of the drawings and specific embodiments.

[0082] A backstepping adaptive sliding mode large-angle attitude maneuver control algorithm for a rigid-body spacecraft, comprising:

[0083] First, establish the kinematic equations and dynamic equations of the rigid body spacecraft based on quaternions as follows:

[0084]

[0085] Among them, q b is the spacecraft body coordinate system relative to the inertial coordinate system The pose quaternion of ; q b0 for q b The scalar part of q bv for q b The vector part of , and, q bv =[q b1 ,q b2 ,q b3 ] T ; is the spacecraft body coordinate system relative to the inertial coordinate system Attitude angular velocity; I 3 is a 3×3 identity matrix; for any x × express:

[0086]

[0087] Obviously, for any 3-dimensional column vector x, x × is an antisymmetric matrix. ; is the moment of inertia matrix (symmetri...

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Abstract

The invention provides a backstepping self-adaptive sliding mode large-angle attitude maneuver control method of a rigid body spacecraft, comprising the following steps: S1, establishing a kinematic equation and a dynamic equation of the rigid body spacecraft based on the error attitude quaternion; S2, A backstepping adaptive sliding mode large-angle attitude maneuver control algorithm is designed. The beneficial effects of the invention are: the spacecraft system can have good stability, and when the inertia of the spacecraft system changes greatly, the attitude of the spacecraft can quickly tend to be stable; it has a faster transient response capability.

Description

technical field [0001] The invention relates to a rigid-body spacecraft, in particular to a backstepping self-adaptive sliding mode large-angle attitude maneuver control method for a rigid-body spacecraft. Background technique [0002] In the traditional attitude control algorithm, the perturbation of the rotational inertia of the spacecraft is not considered, and the traditional sliding mode control algorithm has chattering problems, and the transient response time is long. Contents of the invention [0003] In order to solve the problems in the prior art, the invention provides a backstepping adaptive sliding mode large-angle attitude maneuver control method of a rigid body spacecraft. [0004] The invention provides a backstepping self-adaptive sliding mode large-angle attitude maneuver control method of a rigid-body spacecraft, comprising the following steps: [0005] S1. Establish the kinematic equation and dynamic equation of the rigid body spacecraft based on the e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/042G05D1/0825
Inventor 董瑞琦吴爱国张颖
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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