Dynamic sliding mode attitude tracking control method and system for flexible spacecraft

A flexible spacecraft, tracking control technology, applied in the field of flexible spacecraft, can solve the problems of high-order sliding mode control law design limitations, weakening the robustness of sliding mode control, etc.

Inactive Publication Date: 2019-08-02
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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Problems solved by technology

However, introducing the boundary layer method and replacing the sign function with the saturated function method weakens the robustness of the sliding mode control
The high-order sliding mode attitude control law can effectively solve the chattering problem of sliding mode control, but the design of high-order sliding mode control law is limited by the relative order

Method used

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  • Dynamic sliding mode attitude tracking control method and system for flexible spacecraft
  • Dynamic sliding mode attitude tracking control method and system for flexible spacecraft
  • Dynamic sliding mode attitude tracking control method and system for flexible spacecraft

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Embodiment Construction

[0060] Such as figure 1 As shown, the present invention discloses a method for dynamic sliding mode attitude tracking control of a flexible spacecraft, comprising the following steps:

[0061] Step S1: Establish the kinematic equation and dynamic equation of the flexible spacecraft based on the error attitude quaternion;

[0062] Step S2: By introducing a dynamic switching function, a dynamic sliding mode attitude tracking control law for the flexible spacecraft attitude tracking problem is designed, and a robust differentiator with finite time convergence is designed to estimate the partial state of the flexible spacecraft system .

[0063] In step S1, based on the attitude quaternion, the kinematic equation and dynamic equation of the flexible spacecraft are established as follows:

[0064]

[0065] Among them, q is the unit attitude quaternion in the spacecraft body coordinate system, that is, ||q||=1 or q 0 is the scalar part of q, q v is the vector part of q, and...

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Abstract

The invention provides a dynamic sliding mode attitude tracking control method and system for a flexible spacecraft. The method comprises the steps of S1, establishing error posture quaternion-based kinematic equation and kinetic equation of the flexible spacecraft; and S2, by introducing a dynamic switching function, designing a dynamic sliding mode attitude tracking control law of the attitude tracking problem of the flexible spacecraft, and designing a finite time convergence-based robust differentiator to estimate a partial state of a flexible spacecraft system. The dynamic sliding mode attitude tracking control method and system has the beneficial effects that the problem of buffeting caused by a traditional sliding mode control law symbol function is effectively inhibited through thedesign of the switching function; and the dynamic sliding mode attitude tracking control method can enable the spacecraft system to carry out attitude tracking.

Description

technical field [0001] The invention relates to the technical field of flexible spacecraft, in particular to a method for dynamic sliding mode attitude tracking control of flexible spacecraft. Background technique [0002] Sliding mode control has been widely used in attitude control of flexible spacecraft because of its robustness and strong anti-interference ability. Aiming at the attitude maneuver problem of rigid spacecraft, an adaptive method is used to estimate the upper bound of the unknown disturbance, and an adaptive sliding mode control law based on backstepping is proposed. For rigid spacecraft, an adaptive integral sliding mode control law is proposed, which avoids the over-adaptation problem of traditional sliding mode control law. Aiming at the attitude tracking problem of flexible spacecraft, a sliding mode attitude tracking control law is proposed by using the sliding mode control method. The traditional sliding mode control law is composed of equivalent co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 吴爱国董西董瑞琦
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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