Flexible spacecraft finite time attitude cooperative control method for executing mechanism fault

A technology for flexible spacecraft and actuators, applied in attitude control, control/regulation systems, non-electric variable control, etc., can solve problems such as failures of flexible spacecraft attitude cooperative control, reduce hardware load, and reduce computing resources needs, the effect of enhancing practicality

Active Publication Date: 2021-08-06
HARBIN ENG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a limited-time attitude cooperative control me

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  • Flexible spacecraft finite time attitude cooperative control method for executing mechanism fault
  • Flexible spacecraft finite time attitude cooperative control method for executing mechanism fault
  • Flexible spacecraft finite time attitude cooperative control method for executing mechanism fault

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Embodiment Construction

[0073] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0074] Such as figure 1 As shown, the flexible spacecraft finite-time attitude cooperative control scheme of the executive mechanism failure designed by the present invention includes the following steps:

[0075] The first step is to establish a non-unwinding flexible spacecraft attitude motion mathematical model based on the rotation matrix. Considering that there are n members in the spacecraft formation system, the following attitude dynamic model can be established for the i-th spacecraft:

[0076]

[0077] In the formula, R i ∈SO(3) represents the rotation matrix of the spacecraft, Its attitude rotation angular rate, positive definite matrix is the inertia matrix, is the coupling matrix between the flexible attachment and the central rigid body in the third mode, are the third-order modal coordinates of the flexible...

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Abstract

The invention provides a flexible spacecraft finite time attitude cooperative control method for an executing mechanism fault. The flexible spacecraft finite time attitude cooperative control method comprises the following steps: step 1, establishing a non-unwinding flexible spacecraft attitude motion mathematical model based on a rotation matrix; step 2, acquiring attitude information and a reference trajectory of each member in the flexible spacecraft formation, and establishing a relative attitude kinetic equation; step 3, describing a communication topological structure among members of the formation system based on an undirected graph, and designing a fast terminal sliding mode variable in combination with a lumped error; and step 4, designing a self-adaptive fault-tolerant controller in consideration of unknown external disturbance and difficulty in observing flexible dynamic and time-varying inertial parameters. According to the method, real-time estimation and compensation are carried out on uncertain dynamic states based on adaptive control, and the practicability of a spacecraft attitude cooperative fault-tolerant control strategy is remarkably enhanced. According to the method, especially the application of the minimum learning parameter algorithm, the requirement of a control system for computing resources is reduced, so that the purpose of reducing hardware loads is achieved, and the method has very high engineering significance.

Description

technical field [0001] The invention relates to the technical field of spacecraft attitude control, in particular to a limited-time attitude cooperative control method for a flexible spacecraft with faulty actuators. Background technique [0002] With the continuous development of the space industry, human beings have put forward higher requirements for the quantity, quality and diversity of spacecraft. Compared with the traditional large single satellite system, the formation of small spacecraft has unparalleled advantages in flexibility, fault tolerance and cost, and can better complete tasks including ground monitoring, on-orbit service and synthetic aperture imaging. Various space missions. As one of the key technologies, it is undoubtedly of great practical significance to study the cooperative control of spacecraft formation attitude. [0003] It is worth noting that, considering the variability of the external environment and the complexity of space missions, the de...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/0833
Inventor 郝勇贺玉山黄兵赵坤赵晗
Owner HARBIN ENG UNIV
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