Control method and device

A control method and control law technology, applied in the aerospace field, can solve the problems of slow convergence speed and control accuracy to be improved, and achieve the effect of improving the convergence speed and system control accuracy.

Active Publication Date: 2020-08-14
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing derotation control methods for underactuated spacecraft are asymptotically stable control methods, that is, when the time tends to infinity, the thr

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Examples

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Comparison scheme
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Example Embodiment

[0064] Example one

[0065] figure 1 It is a schematic diagram of the control method of Embodiment 1 of the present invention, such as figure 1 As shown, the control method of this embodiment includes:

[0066] S11. Obtain initialization parameters and control parameters of the spacecraft control system.

[0067] In an exemplary embodiment, the initialization parameters include the spacecraft initial angular velocity ω and the spacecraft inertia matrix J;

[0068] Among them, the initial angular velocity ω=[ω x ω y ω z ] T ;Ω x Is the x-axis angular velocity of the spacecraft body coordinate system, ω y Is the y-axis angular velocity of the spacecraft body coordinate system, ω z Is the angular velocity of the z-axis of the spacecraft body coordinate system; the spacecraft body coordinate system is a coordinate system in which the center of mass of the spacecraft is the coordinate origin, and the x-axis, y-axis and z-axis coincide with the spacecraft inertia principal axis; the defini...

Example Embodiment

[0091] Example two

[0092] The design idea of ​​the present invention is as follows: First, the initialization parameters of the control system are given, including the spacecraft inertia matrix and the initial angular velocity. Then, based on the initialization parameters, the sliding mode control method is adopted to design the control law and calculate the actual control quantity. Finally, determine whether the control performance (such as convergence time, steady-state accuracy, etc.) meets the requirements. If it is satisfied, the de-rotation control is ended; otherwise, the control parameters are adjusted until the performance index requirements are met. In practical applications, the angular velocity of the spacecraft can be obtained by the attitude measurement equipment, and the control variable calculated by this method can be transmitted to the actuator to realize the limited time derotation control function of the under-driven spacecraft.

[0093] The specific steps o...

Example Embodiment

[0161] Example three

[0162] Figure 5 Is a schematic diagram of a control device according to an embodiment of the present invention, such as Figure 5 As shown, the control device of this embodiment is applied to an under-driven spacecraft and includes: a memory and a processor;

[0163] The memory is used to store a program for control;

[0164] The processor is configured to read and execute the control program, and perform the following operations:

[0165] Obtain the initialization parameters and control parameters of the spacecraft control system;

[0166] Calculate the control torque of the spacecraft according to the initialization parameters and control parameters according to the preset control law;

[0167] Calculate the angular velocity of the spacecraft according to the control torque, and if the control performance of the angular velocity of the spacecraft cannot meet the preset performance index, adjust the control parameters until the angular velocity of the spacecraft ...

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Abstract

The invention discloses a control method which is applied to an under-actuated spacecraft. The method comprises the following steps: acquiring initialization parameters and control parameters of a spacecraft control system; calculating a control moment of the spacecraft according to the initialization parameters and the control parameters and based on a preset control law; calculating an angular velocity of the spacecraft according to the control moment, and if the control performance of the angular velocity of the spacecraft cannot meet a preset performance index, adjusting the control parameters till that the angular velocity of the spacecraft meets the preset performance index; and controlling the spacecraft according to the corresponding control moment when the control performance of the angular velocity of the spacecraft meets the preset performance index. The invention further discloses a control device. The method and the device provided by the invention can realize rapid racemization of the under-actuated spacecraft.

Description

technical field [0001] The invention relates to the aerospace field, in particular to a control method and device in the aerospace field. Background technique [0002] Usually, for a three-axis stable spacecraft attitude control system, independent actuators are installed in the three-axis directions of the spacecraft body coordinate system, such as flywheels, control moment gyros, or jet thrusters installed in pairs. Such an attitude control system is an all-drive control system, that is, a system in which the degree of freedom of the system configuration and the control input have the same dimension. If the actuator in a certain direction fails and cannot provide control torque, the attitude control system will be degraded to an underactuated control system, that is, a system whose configuration degree of freedom is greater than the control input dimension, and the existing full-actuation attitude control method cannot be applied . If effective measures are not taken, th...

Claims

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Application Information

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IPC IPC(8): B64G1/24
CPCB64G1/244
Inventor 黄煦尤政张高飞
Owner TSINGHUA UNIV
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