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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 three-axis angular velocity converges to zero, so the asymptotically stable control methods have slow convergence speed and control accuracy needs to be improved. question

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Embodiment 1

[0065] figure 1 It is a schematic diagram of the control method in 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, the spacecraft inertia matrix J;

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

Embodiment 2

[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 used 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, then end the derotation control, otherwise, adjust the control parameters until the performance index requirements are met and stop. In practical applications, the angular velocity of the spacecraft can be obtained by the attitude measurement equipment, and the control quantity calculated by this method can be transmitted to the actuator to realize the limited time derotation control function of the underactuated spacecraft.

[0093] Concrete steps of the present inventi...

Embodiment 3

[0162] Figure 5 It is a schematic diagram of the control device of the embodiment of the present invention, such as Figure 5 As shown, the control device of this embodiment is applied to an underactuated spacecraft, including: a memory and a processor;

[0163] The memory is used to save the program for control;

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

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

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

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

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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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