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Finite-time multi-mode sliding mode attitude control algorithm for flexible spacecraft

A flexible spacecraft, limited time technology, applied in attitude control, adaptive control, general control system, etc., can solve the problem that the system cannot be stable for a limited time

Inactive Publication Date: 2021-06-08
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

[0002] In the traditional attitude sliding mode control algorithm of flexible spacecraft, the uncertainties and external disturbances of the moment of inertia of the flexible spacecraft are not considered, and the traditional sliding mode control algorithm only guarantees that the system state slides on a single sliding mode surface, and cannot Guarantee the stability of the system for a limited time

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  • Finite-time multi-mode sliding mode attitude control algorithm for flexible spacecraft
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  • Finite-time multi-mode sliding mode attitude control algorithm for flexible spacecraft

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Embodiment Construction

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0036] Such as Figure 1 to Figure 2 Shown, the finite-time multimodal sliding mode attitude control algorithm of the flexible spacecraft of the present invention includes:

[0037] First, based on the attitude quaternion and the Euler axis / angle, the following kinematic equations and dynamic equations are established for the flexible spacecraft with bounded external disturbance moments and uncertain moments of inertia:

[0038]

[0039]

[0040]

[0041] Among them, J mb is the body inertia matrix, is J mb expectations, for J mb the inverse of q 0 ,q v are the scalar part and vector part of the attitude quaternion, e is the Euler axis, is the rotation angle, and respectively q 0 ,q v , e and The first derivative of , I 3 Represents a 3×3 identity matrix, matrix q v The product matrix of is defined as Expressed...

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Abstract

The invention provides a finite-time multi-mode sliding mode attitude control algorithm for a flexible spacecraft, using the attitude quaternion and the Euler axis / angle representation method to establish the kinematic equation of the flexible spacecraft, and adopting the hybrid coordinate method to center The dynamic equations are established for a flexible spacecraft with a rigid body with flexible attachments, external disturbances, and uncertain moments of inertia; the multimodal control idea is adopted, and the following two sliding mode control laws are designed based on the Lyapunov finite-time stability theorem: for flexible In the case of measurable modes, a multi-modal finite-time sliding mode control law is designed; for the case of non-measurable flexible modes, a multi-modal finite-time sliding mode control law based on dynamic observers is designed. The beneficial effects of the present invention are: adopting the attitude control algorithm designed by the present invention enables the flexible spacecraft to quickly realize attitude stability, and has relatively robustness to external disturbance and uncertainty of rotational inertia.

Description

technical field [0001] The invention relates to the technical field of flexible spacecraft control, in particular to a finite-time multi-mode sliding mode attitude control algorithm for flexible spacecraft. Background technique [0002] In the traditional attitude sliding mode control algorithm of flexible spacecraft, the uncertainties and external disturbances of the moment of inertia of the flexible spacecraft are not considered, and the traditional sliding mode control algorithm only guarantees that the system state slides on a single sliding mode surface, and cannot Ensure that the system is stable for a limited time. Contents of the invention [0003] In order to solve the problems in the prior art, the invention provides a finite-time multi-mode sliding mode attitude control algorithm for a flexible spacecraft. The present invention is specifically realized through the following technical solutions: [0004] A finite-time multi-mode sliding mode attitude control al...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/042
Inventor 王志群吴爱国
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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