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A Guaranteed Energy Control Method for Spacecraft Attitude Tracking Considering Completion Time Constraint

A control method, tracking control technology, applied in the direction of attitude control, adaptive control, general control system, etc., can solve the problem of not being able to obtain in advance, achieve strong engineering practical value and theoretical significance, reduce requirements, and strong robustness Effect

Active Publication Date: 2021-08-13
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
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Problems solved by technology

[0006] In order to avoid the deficiencies of the prior art, the present invention proposes a space vehicle attitude tracking guaranteed energy control method considering the completion time constraint. For the attitude control problem that the system model information cannot be obtained in advance, the time constraint of the completion of the attitude control task is considered. The method of the present invention enables the convergence trajectory of the system to be constrained within the predetermined technical index, realizes energy-guaranteed control, and the system can enter a steady state within a given time constraint, ensuring the smooth completion of subsequent tasks

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  • A Guaranteed Energy Control Method for Spacecraft Attitude Tracking Considering Completion Time Constraint
  • A Guaranteed Energy Control Method for Spacecraft Attitude Tracking Considering Completion Time Constraint
  • A Guaranteed Energy Control Method for Spacecraft Attitude Tracking Considering Completion Time Constraint

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Embodiment Construction

[0054] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0055] This embodiment: take the attitude tracking problem of a rigid spacecraft as the implementation object, wherein the inertia matrix of the spacecraft is set to J=diag(40.0,42.5,50.2)kg m 2 , the initial MRP setting is σ(0)=[0.6,-0.5,0.3] T , the initial desired initial MRP is set to σ r (0)=[0.02,-0.03,0.05] T , the initial angular velocity is designed as: ω(0)=[-0.001,0.002,-0.0009] T rad / s, the time-varying desired angular velocity is set to:

[0056] ω r =2×10 -4 ×[0.03sin(πt / 200),0.03sin(πt / 300),0.03sin(πt / 250)] T rad / s

[0057] External disturbances are set to:

[0058] τ d =2×10 -4 ×[sin(0.8t),cos(0.5t),cos(0.3t)] T N·m

[0059] Boundary function α ei (t) and α xi (t) (i=1,2,3) parameters are selected as: T=25, γ=0.6, δ=0.8, α ei,0 = 1.5, α ei,T =0.01, α xi,0 = 1.5 and α xi,T = 0.01.

[0060] The controller parameters are designed a...

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Abstract

The invention relates to a spacecraft attitude tracking guaranteed energy control method considering the completion time constraint. For the attitude tracking control problem of rigid spacecraft, a model-free guaranteed energy attitude that does not need to know the system information (mainly the inertia matrix) in advance is proposed. The control technology realizes the robust tracking control of the attitude control system, and can ensure the realization of the technical indicators, and can also take into account the time constraints of the task, so as to ensure that the system state can complete the tracking of the expected signal within a given time. Beneficial effects: it can ensure that the system converges before the preset time. This control method has the characteristics of model-free, that is, the information of the specific parameters of the model (mainly the attitude inertia matrix) is not required in the entire control loop, which reduces the impact of the controller design on the system. The technical indicators of the attitude control system (such as steady-state error, transient convergence speed, etc.) can be designed in advance and guaranteed by the boundary function in the controller, which has the characteristics of strong robustness.

Description

technical field [0001] The invention belongs to the field of spacecraft robust control, and relates to a spacecraft attitude tracking guaranteed energy control method considering completion time constraints. Background technique [0002] At present, there are many spacecraft attitude control technologies based on model information, such as sliding mode control technology, literature: CongB, Chen Z, Liu X. Improved adaptive sliding mode control for rigid spacecraft attitude tracking [J]. Journal of Aerospace Engineering, 2014, 27(4):04014004.; Optimal control technology, literature: Pukdeboon C.Optimal output feedback controllers for spacecraft attitude tracking[J].Asian Journal of Control, 2012,15(5):1284-1294.; Regression control technology, Literature: Ali I, Radice G, Kim J. Backstepping control design with actuator torque bound for spacecraft attitude maneuver[J]. Journal of Guidance Control Dynamics, 2012,33(1):254-259.etc. These techniques have achieved good results i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/08
CPCG05B13/042
Inventor 罗建军殷泽阳魏才盛王明明马卫华党朝辉
Owner NORTHWESTERN POLYTECHNICAL UNIV
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