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Spacecraft attitude tracking control method based on discontinuous adaptive control

A technology of self-adaptive control and tracking control, applied in the directions of self-adaptive control, non-electric variable control, attitude control, etc., can solve the problems of poor spacecraft attitude tracking control effect and poor robustness of spacecraft attitude tracking control system, etc. Overcome poor robustness, good control performance, and weaken the effect of chattering

Active Publication Date: 2019-10-18
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to solve the problem that the spacecraft attitude tracking control system has poor robustness in the presence of modeling uncertainty, external interference and input saturation effects, resulting in a poor effect on spacecraft attitude tracking control, And proposed a spacecraft attitude tracking control method based on discontinuous adaptive control

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  • Spacecraft attitude tracking control method based on discontinuous adaptive control
  • Spacecraft attitude tracking control method based on discontinuous adaptive control
  • Spacecraft attitude tracking control method based on discontinuous adaptive control

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specific Embodiment approach 1

[0026] Specific implementation mode one: as figure 1 As shown, a kind of spacecraft attitude tracking control method based on discontinuous adaptive control described in this embodiment, the method includes the following steps:

[0027] Step 1. Establish the geocentric inertial coordinate system o I x I the y I z I , Spacecraft body coordinate system o B x B the y B z B and the desired reference frame o R x R the y R z R ;

[0028] Step 2. According to the coordinate system established in step 1, obtain the spacecraft attitude kinematics and dynamics equations described by the attitude quaternion, and the spacecraft error attitude kinematics equation and dynamics equation, that is, the attitude tracking system;

[0029] Step 3. Based on step 2, and based on the integral terminal sliding surface, an attitude tracking controller is designed considering the unknown external disturbance torque and the uncertainty of the moment of inertia.

specific Embodiment approach 2

[0030] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is: the specific process of the step one is:

[0031] Establish the following coordinate system: (Zhang Renwei. Satellite Orbit Attitude Dynamics and Control [M]. Beijing: Beijing University of Aeronautics and Astronautics Press, 2006: 147-155)

[0032] Geocentric inertial coordinate system o I x I the y I z I : The coordinate origin of the earth-centered inertial coordinate system is located at the center of the earth, and the o of the earth-centered inertial coordinate system I x I the y I The plane lies on the equatorial plane, o I x I The axis points in the direction of the equinox in space, o I z I The axis is perpendicular to the equatorial plane and points in the direction of the Earth's North Pole, o I the y I axis and o I x I axis and o I z I The axes together form a right-handed Cartesian coordinate system;

[0033] Spacecraft ...

specific Embodiment approach 3

[0036] Specific implementation mode three: the difference between this implementation mode and specific implementation mode two is: the specific process of said step two is:

[0037] Considering the non-singularity of the attitude quaternion, the present invention is mainly based on the attitude quaternion (Shuster M D.Asurvey of attitude representations[J].The Journal of the AstronauticalSciences, 1993,41(4):439-517.) Describe the attitude motion of the spacecraft.

[0038] definition is the attitude quaternion of the spacecraft body coordinate system relative to the earth-centered inertial coordinate system, where q 0 is the scalar part of the attitude quaternion q, q v is the vector part of the attitude quaternion q, the superscript T represents the transpose of the matrix, and

[0039] Define ω=[ω 1 ,ω 2 ,ω 3 ] T is the angular velocity of the spacecraft body coordinate system relative to the earth-centered inertial coordinate system, ω 1 , ω 2 and ω 3 Both are ...

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Abstract

The invention provides a spacecraft attitude tracking control method based on discontinuous adaptive control, belongs to the technical field of spacecraft attitude tracking control, and solves the problem that a spacecraft attitude tracking control system is poor in robustness so that a spacecraft attitude tracking control effect is poor in the case of modeling uncertainty, external disturbances and input saturation effects. The spacecraft attitude tracking control method comprises the following specific steps of step 1, establishing an earth centered inertial oIxIyIzI, a spacecraft body coordinate system oBxByBzB and an expected reference coordinate system oRxRyRzR; step 2, according to the coordinate systems established in step 1, obtaining the spacecraft attitude kinematics and a kinetic equation described by using an attitude quaternion, and a spacecraft error attitude kinematics equation and the kinetic equation, namely the attitude tracking control system; and step 3, based on the step 2, based on a sliding mode surface of an integral terminal, designing an attitude tracking controller considering an unknown external disturbance torque and the rotational inertia uncertainty.The spacecraft attitude tracking control method based on the discontinuous adaptive control provided by the invention can be applied to spacecraft attitude tracking control.

Description

technical field [0001] The invention belongs to the technical field of spacecraft attitude tracking control, and in particular relates to a spacecraft attitude tracking control method. Background technique [0002] Attitude control of a spacecraft refers to exerting an external action on the target spacecraft to change its position relative to the inertial reference system or other reference coordinate systems under the constraints of the relevant attitude kinematics and dynamics equations and according to the specific requirements of the space mission. pointing control technology. In order to ensure the normal operation of the spacecraft, in addition to being equipped with a fully functional hardware system, it is also necessary to design an attitude control algorithm that can explicitly deal with various system uncertainties. [0003] In recent years, sliding mode control has been favored by researchers in the aerospace field, and has been widely studied and applied. Whe...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B13/04
CPCG05B13/042G05D1/0825
Inventor 宋申民陈海涛张禹琛
Owner HARBIN INST OF TECH
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