Spacecraft attitude preset performance control method and device, and computer storage medium

Abstract

The present invention belongs to the technical field of spacecraft attitude control and discloses a spacecraft attitude preset performance control method and device, as well as a computer storage medium. The method comprises the following steps: S1. Establishing a spacecraft error attitude dynamics and kinematics model that takes into account an unknown bounded input delay; S2. Constructing a preset performance function, and using the preset performance function to impose preset performance constraints on the spacecraft attitude error; introducing an error conversion function to convert the constrained attitude error into an unconstrained error; performing a state conversion on the spacecraft error attitude dynamics and kinematics model to obtain a spacecraft error attitude dynamics and kinematics model with respect to state variables; and S3. Designing a preset performance control law based on the tracking error variable so that the attitude error moves within the envelope of the preset performance function. The present invention can compensate for errors caused by unknown bounded input delays while meeting the steady-state and transient performance requirements of spacecraft attitude control.

Description

Technical Field

[0001] The present invention belongs to the technical field of spacecraft attitude control, and in particular relates to a spacecraft attitude preset performance control method and device, and a computer storage medium taking into account unknown bounded input delay. Background Art

[0002] Spacecraft attitude control refers to the process by which the actuators of a spacecraft's attitude control output control torques according to the control law, adjusting the spacecraft's attitude until the desired attitude is achieved. With the development of modern aerospace, spacecraft are required to maintain excellent attitude control performance. However, in real physical systems, system latency is unavoidable, leading to poor performance. This latency is particularly harmful for spacecraft performing rapid attitude maneuvers, where it can compromise spacecraft safety.

[0003] In existing technologies, traditional prediction or compensation methods are usually used to reduce the impact of delay by estimating the future state of the system. Existing methods have the following disadvantages:

[0004] (1) Most of the delays considered in existing technologies are known delays, but the system delay is often difficult to obtain in actual systems;

[0005] (2) Most current attitude control methods focus only on steady-state performance, while ignoring transient performance during attitude maneuvers;

[0006] (3) Among the existing control methods, some require the backstepping method to complete the controller design, and the stability analysis is relatively complicated.

[0007] In order to overcome the limitations of existing methods, it is necessary to design a spacecraft attitude preset performance control method considering unknown bounded input delays. Summary of the Invention

[0008] In order to solve the above problems, the present invention provides a spacecraft attitude preset performance control method considering unknown bounded input delay, which can compensate for the error caused by the unknown bounded input delay and can simultaneously meet the steady-state and transient performance of spacecraft attitude control.

[0009] The specific technical solutions are as follows:

[0010] The spacecraft attitude preset performance control method includes the following steps:

[0011] S1. Establish a spacecraft error attitude dynamics and kinematics model considering unknown bounded input delays;

[0012] S2. Constructing a preset performance function and applying a preset performance constraint to the spacecraft's attitude error through the preset performance function; introducing an error conversion function to convert the constrained attitude error into an unconstrained error; and performing a state conversion on the spacecraft error attitude dynamics and kinematics model based on the preset performance function, the preset performance constraint, and the error conversion function to obtain a spacecraft error attitude dynamics and kinematics model with respect to state variables;

[0013] S3. Introduce tracking error variables related to state variables, delay error variables, and filtering error variables; design a preset performance control law based on the tracking error variables so that the attitude error moves within the preset performance function envelope.

[0014] Furthermore, in step S1, the spacecraft error attitude dynamics and kinematics model is expressed as:

[0015] ;

[0016] in, The attitude error described by the improved Logrid parameters;

[0017] The identity matrix of is the angular velocity error; is the inertia matrix of the spacecraft; is the spacecraft angular velocity; is the direction cosine matrix; is the desired angular velocity; is the control input, is the input delay of the spacecraft system, satisfying , and when time , ; External interference to the system.

[0018] Furthermore, the step S2 specifically includes:

[0019] Construct the preset performance function as:

[0020] ;

[0021] in, They are the maximum overshoot value of attitude error, the maximum convergence time, and the maximum steady-state error, respectively. , is the convergence rate, ,and ;

[0022] Attitude error To set performance constraints:

[0023] ;

[0024] in, The abbreviation of The i-th component of ;

[0025] Introducing the error transfer function , expressed as:

[0026] ;

[0027] in, ,set up Based on the preset performance function, preset performance constraints and error conversion function, the spacecraft error attitude dynamics and kinematics model is converted into state variables Spacecraft error attitude dynamics and kinematics model:

[0028] ;

[0029] in, The i-th components of , ; , The i-th component of ; , , , The identity matrix of is the control input, is the input delay of the spacecraft system, satisfying , and when time , ; , External interference to the system; , , is the spacecraft angular velocity, is the inertia matrix of the spacecraft, is the desired angular velocity, is the angular velocity error, is the direction cosine matrix, .

[0030] Furthermore, the tracking error variable for:

[0031] ;

[0032] in, is the control gain, and ; is a state variable, and , The i-th component of ,set up , , is the attitude error e The i-th component of is the preset performance function; filtering error variable , delay error variable Expressed as:

[0033] ;

[0034] in, is the control gain, and ;

[0035] Control Law u Expressed as:

[0036] ;

[0037] in, Expressed as:

[0038] ;

[0039] in, ; , is the spacecraft angular velocity, is the inertia matrix of the spacecraft, is the desired angular velocity, is the angular velocity error, is the direction cosine matrix; ; ; , is a 3×3 identity matrix.

[0040] Furthermore, the method further comprises step S4:

[0041] S4. Check the performance of the preset performance control law;

[0042] By selecting the control gain parameters and performance function parameters, and setting the input delay value Time extension upper bound Perform simulation to determine the performance of the preset control law; if the performance meets the requirements, the design is completed; otherwise, readjust the parameters and re-test the performance of the control law until the performance meets the requirements.

[0043] Another object of the present invention is to provide a spacecraft attitude preset performance control device, comprising:

[0044] memory for storing computer programs;

[0045] A processor is used to execute the computer program to implement the steps of the above-mentioned spacecraft attitude preset performance control method.

[0046] Another object of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program is used to enable a computer to execute the steps of the above-mentioned spacecraft attitude preset performance control method.

[0047] Compared with the prior art, one or more of the above technical solutions can achieve at least one of the following beneficial effects:

[0048] (1) The present invention can simultaneously complete the error conversion of kinematic and dynamic models by adopting an error conversion scheme that introduces a preset performance function, a preset performance constraint, and an error conversion function, and can complete the design of the control law without the need for backstepping;

[0049] (2) The present invention introduces a tracking error variable based on the state variable, the time delay error variable, and the filtering error variable to design the control law, which makes the stability analysis simple;

[0050] (3) The present invention designs a preset performance attitude controller for the spacecraft attitude control problem under the condition of unknown bounded input delay, which realizes the constraints on the steady-state and temporary storage performance of the attitude error; avoids the potential risks caused by the delay in actual engineering, and has the advantage of high reliability of attitude control. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 is a flow chart of the preset performance control method of the present invention;

[0053] Figure 2 Detailed design flow chart of the preset performance control method of Example 1;

[0054] Figure 3 Schematic diagram of the error change curve under the condition of unknown bounded input delay. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention. Example 1

[0056] like Figure 1 As shown, the present invention provides a method for controlling the preset performance of a spacecraft attitude, which takes into account an unknown bounded input delay and includes the following steps:

[0057] S1. Establish a spacecraft error attitude dynamics and kinematics model considering unknown bounded input delays;

[0058] S2. Constructing a preset performance function and applying a preset performance constraint to the spacecraft's attitude error through the preset performance function; introducing an error conversion function to convert the constrained attitude error into an unconstrained error; and performing a state conversion on the spacecraft error attitude dynamics and kinematics model based on the preset performance function, the preset performance constraint, and the error conversion function to obtain a spacecraft error attitude dynamics and kinematics model with respect to state variables;

[0059] S3. Introduce tracking error variables related to state variables, delay error variables, and filtering error variables; design a preset performance control law based on the tracking error variables so that the attitude error moves within the preset performance function envelope.

[0060] In step S2 of the present invention, the error conversion scheme of introducing a preset performance function, a preset performance constraint, and an error conversion function can simultaneously complete the error conversion of the kinematic and dynamic models. The tracking error variable can be directly constructed in step S3 to complete the design of the control law without the need for backstepping, and the stability analysis is simple.

[0061] The following is an example of the specific design process of the preset performance control method in actual engineering application. Figure 2 The specific steps are as follows:

[0062] S1. Define the control object and control goal, and establish the kinematic and dynamic models of the rigid spacecraft error attitude considering the unknown input delay conditions.

[0063] First, the kinematic and dynamic models of the rigid spacecraft attitude under unknown input delay conditions are established, which are described as follows:

[0064] ;

[0065] in, The modified Roghirida parameters (MRPs) for describing the spacecraft attitude consist of three components: , , To improve the transpose of the Roghrid parameter vector; is the cross product matrix determined by the improved Rogelius parameter vector, expressed as ; is a 3×3 identity matrix; is the spacecraft angular velocity; is the inertia matrix of the spacecraft; is the control input; is the input delay of the spacecraft system, satisfying ;when , ; External interference to the system.

[0066] set up are the desired attitude Rogelius parameter values and the desired angular velocity, respectively, and the attitude error described by the modified Rogelius parameters (MRPs) and angular velocity error Respectively expressed as:

[0067] ;

[0068] in, The direction cosine matrix is expressed as:

[0069] ;

[0070] Based on equations (1) to (5), the spacecraft error attitude dynamics and kinematics model can be expressed as:

[0071] ;

[0072] in, The following properties exist, .

[0073] The control goal of this embodiment is to design a control law so that the attitude error Satisfied, the maximum overshoot is not greater than , the convergence time is no slower than , the steady-state error is no greater than .

[0074] S2. Performance function construction and error conversion: Construct a preset performance function, and use the preset performance function to impose preset performance constraints on the spacecraft's attitude error; introduce an error conversion function to convert the constrained attitude error into an unconstrained error; based on the preset performance function, preset performance constraints, and error conversion function, perform state conversion on the spacecraft error attitude dynamics and kinematics model to obtain the spacecraft error attitude dynamics and kinematics model with respect to the state variables.

[0075] Specifically, the preset performance function is constructed as:

[0076] ;

[0077] in, They are the maximum overshoot value of attitude error, the maximum convergence time, and the maximum steady-state error, respectively. , is the convergence rate, ,and .

[0078] The control goal of this embodiment is to ensure that the tracking error is within the preset envelope under the condition of unknown output delay, that is, the attitude error To set performance constraints:

[0079] ;

[0080] in, for The abbreviation of for The i-th component of ;

[0081] In order to facilitate controller design, the error conversion is introduced Function, expressed as:

[0082] ;

[0083] in, , generally set Taking the derivative of formula (10), we get:

[0084] ;

[0085] in, , when the MPRs error is within the preset performance envelope, that is, , Can be The minimum value is obtained at this time. .

[0086] make , ,but Yes. Derivative:

[0087] ;

[0088] in, , According to formula (6), The derivative of can be expressed as:

[0089] ;

[0090] in, Substituting equation (13) into (12) yields:

[0091] ;

[0092] in, , , , express The derivative of .

[0093] because , so the controller design ensures Bounded, according to formula (10), the attitude error can be guaranteed to meet , that is, the attitude error is within the envelope formed by the preset performance function.

[0094] exist Under the conditions, B The matrix is bounded. ,Right now is bounded. The matrix It can be expressed as ,in , . Obviously the matrix F It is positive and satisfied . Combined The properties of , we can get: . That is, the matrix B It is bounded.

[0095] Combining (13) and (14), and considering the preset performance function, the error attitude dynamics and kinematic equations (6) and (7) can be converted into:

[0096] ;

[0097] According to equation (15), we only need to ensure that the state Bounded, that is, the attitude error can be guaranteed is within the envelope of the performance function (8).

[0098] S3. Preset performance controller design: Design a preset performance control law based on the tracking error variable so that the attitude error moves within the preset performance function envelope; wherein the tracking error variable is designed based on the state variable, the delay error variable, and the filtering error variable.

[0099] Specifically, based on the control objectives mentioned above, in order to complete the controller design, the tracking error variable is introduced , expressed as:

[0100] ;

[0101] in, is the control gain, and Filter error variable , delay error variable Expressed as:

[0102] ;

[0103] in, is the control gain, and . Control Law Expressed as:

[0104] ;

[0105] in, Expressed as:

[0106] ;

[0107] By system state variables 、 Constructing tracking error variables , Equation (18) constructs the delay error using the past control information and introduces it into the tracking error variable of Equation (16) , introduced in formula (16) Term, combined with formula (17), can be introduced Tracking error variable Negative feedback In formula (16), u The introduction of the term is to eliminate the problem in the Lyapunov stability proof. The resulting u ( t ) item. By introducing Can be introduced , which is formed when Lyapunov stability is proved In the control law formed by formula (19), The term is convenient for Lyapunov stability proof to be constructed item, The introduction of is to compensate for the nonlinear term. If it can be proved by Lyapunov stability analysis Is bounded, we can achieve the attitude error performance constraints.

[0108] When designing the preset performance control law, the stability of the attitude control is verified based on the Lyapunov function theorem to ensure that the attitude error is always within the error envelope. The specific process is as follows:

[0109] The Lyapunov function is constructed as follows:

[0110] ;

[0111] Among them, P, Q, S, and T are LK functions, which are expressed as follows:

[0112] ;

[0113] in, Taking the derivative of the Lyapunov function, we get:

[0114] ;

[0115] according to P 、 、 S 、 T The definition of , we can get:

[0116] ;

[0117] in, ;

[0118] Similarly, the following holds:

[0119] ;

[0120] Using the Cauchy-Schwarz inequality, the following holds:

[0121] ;

[0122] Substituting equations (24) to (27) into equation (23), we can obtain:

[0123] ;

[0124] Pick and They are:

[0125] ;

[0126] The above formula (28) can be converted to:

[0127] ;

[0128] The external interference of low-orbit satellites mainly includes aerodynamic torque and gravity gradient torque. Therefore, the interference is bounded and satisfies .set up , according to formula (20), we have . And according to Expression, there is . Then we can conclude that:

[0129] ;

[0130] if Establishment, combination , we can get: The above formula can be further converted to:

[0131] ;

[0132] The above inequality (31) can be expressed as:

[0133] ;

[0134] Therefore, the system is uniformly bounded and stable. According to the above formula, the system state variable is bounded. The attitude error will always be within the error envelope.

[0135] As a preferred embodiment, the preset performance control method further includes step S4, which is specifically described as follows:

[0136] S4. Verify the performance of the preset performance control law.

[0137] Select a set of design parameters and performance function parameters 、 、 , and set the input delay value Time extension upper bound Perform simulation; if the performance meets the requirements, the design is completed; otherwise, readjust the design parameters and re-test the performance until the performance meets the requirements.

[0138] The following is an explanation using specific parameter data.

[0139] For example, the spacecraft system parameters, including the initial and expected MRPs, are set as follows: ; ; The initial and expected angular velocities are The moment of inertia is ;Unknown input delay , upper bound of delay The preset performance function related parameters are: =1, =0.001, The control parameters are .

[0140] The corresponding attitude error curve is as follows Figure 3 As shown, the controller designed in this embodiment can ensure that the attitude error remains within the preset performance function envelope even in the presence of unknown bounded input delays. Simulation results show that the spacecraft attitude preset performance control method provided in this embodiment, which considers unknown bounded input delays, is correct and effective.

[0141] As a preferred embodiment, the present invention further provides a spacecraft attitude preset performance control device, comprising:

[0142] memory for storing computer programs;

[0143] A processor is used to execute the computer program to implement the steps of the above-mentioned spacecraft attitude preset performance control method.

[0144] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is used to enable a computer to execute the steps of the above-mentioned spacecraft attitude preset performance control method.

[0145] Obviously, the above embodiments are merely examples for the purpose of clearly illustrating the technical solutions of the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be protected by the claims of the present invention.

Claims

1. A method for controlling a spacecraft's attitude preset performance, characterized in that: The method comprises the following steps: S1. Establish a spacecraft error attitude dynamics and kinematics model considering unknown bounded input delays; S2. Constructing a preset performance function and applying a preset performance constraint to the spacecraft's attitude error through the preset performance function; introducing an error conversion function to convert the constrained attitude error into an unconstrained error; and performing a state conversion on the spacecraft error attitude dynamics and kinematics model based on the preset performance function, the preset performance constraint, and the error conversion function to obtain a spacecraft error attitude dynamics and kinematics model with respect to state variables; The step S2 specifically includes: Construct the preset performance function as: ； in, They are the maximum overshoot value of attitude error, the maximum convergence time, and the maximum steady-state error, respectively. is the convergence rate, , ; Preset performance constraints on attitude error: ； in, The abbreviation of The i-th component of The attitude error described by the improved Logridian parameter; Introducing the error transfer function , expressed as: ； in, ,set up Based on the preset performance function, preset performance constraints and error conversion function, the spacecraft error attitude dynamics and kinematics model is converted into state variables Spacecraft error attitude dynamics and kinematics model: ； in, The i-th components of , ; , The i-th component of ; , , , The identity matrix of is the control input, is the input delay of the spacecraft system, satisfying , and when time ; , External interference to the system; , , is the spacecraft angular velocity, is the inertia matrix of the spacecraft, is the desired angular velocity, is the angular velocity error, is the direction cosine matrix, ; S3. Introduce tracking error variables related to state variables, delay error variables, and filtering error variables; design a preset performance control law based on the tracking error variables so that the attitude error moves within the preset performance function envelope.

2. The method for controlling the preset performance of a spacecraft attitude according to claim 1, wherein: In step S1, the spacecraft error attitude dynamics and kinematics model is expressed as: ； in, The attitude error described by the improved Logrid parameters; , is a 3×3 identity matrix; is the angular velocity error; is the inertia matrix of the spacecraft; w is the spacecraft angular velocity; is the direction cosine matrix; is the desired angular velocity; is the control input, is the input delay of the spacecraft system, satisfying , and when time , ; External interference to the system.

3. The spacecraft attitude preset performance control method according to claim 1, characterized in that: The tracking error variable for: ； in, is the control gain, and ; is a state variable, and , The i-th component of ,set up , , is the attitude error The i-th component of is the preset performance function; filtering error variable , delay error variable Expressed as: ； in, is the control gain, and ; Control Law Expressed as: ； in, Expressed as: ； in, ; , is the spacecraft angular velocity, is the inertia matrix of the spacecraft, is the desired angular velocity, is the angular velocity error, is the direction cosine matrix; ; ; , The identity matrix of .

4. The spacecraft attitude preset performance control method according to claim 1, characterized in that: The method further comprises step S4: S4. Check the performance of the preset performance control law; By selecting the control gain parameters and performance function parameters, and setting the input delay value Time extension upper bound Perform simulation to determine the performance of the preset performance control law; If the performance meets the requirements, the design is completed; Otherwise, readjust the parameters and re-test the performance of the control law until the performance meets the requirements.

5. Spacecraft attitude preset performance control equipment, characterized in that: include: Memory for storing computer programs; A processor is used to execute the computer program to implement the steps of the spacecraft attitude preset performance control method described in any one of claims 1 to 4.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program is used to enable a computer to execute the steps of the spacecraft attitude preset performance control method described in any one of claims 1 to 4.

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