CN106444815B - A kind of molding control method of single shaft maneuverable spacecraft - Google Patents

A kind of molding control method of single shaft maneuverable spacecraft Download PDF

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CN106444815B
CN106444815B CN201610976806.3A CN201610976806A CN106444815B CN 106444815 B CN106444815 B CN 106444815B CN 201610976806 A CN201610976806 A CN 201610976806A CN 106444815 B CN106444815 B CN 106444815B
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spacecraft
indicate
attitude
satellite
molding device
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CN106444815A (en
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郭思岩
吴敬玉
王新
钟超
陈为伟
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Shanghai Aerospace Control Technology Institute
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Shanghai Aerospace Control Technology Institute
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G05D1/0825—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability using mathematical models

Abstract

The present invention relates to a kind of molding control methods of uniaxial maneuverable spacecraft, include: S1, the mission requirements according to the spacecraft containing flexible appendage, the posture and attitude angular velocity motion path for planning the spacecraft, establish the state equation of the attitude motion of spacecraft；S2, carry out the corresponding characteristic value of approximate calculation spacecraft flexible appendage using simplified system features matrix, and calculate the equivalent vibration frequency of flexible appendage；S3, the Con-eigenvalue for calculating molding device seek the parameter of molding device, complete the design of molding device；S4, Angular Acceleration Feedback item is added in the controller of spacecraft, compensates attitude motion state equation because of the residual oscillation caused by simplification.The present invention is suitable for realizing the Solve problems of nonlinear system equation around the uniaxial motor-driven spacecraft of Euler's axis by simplifying system features matrix, system features matrix being eliminated by angular acceleration compensation because of residual oscillation brought by simplification.

Description

A kind of molding control method of single shaft maneuverable spacecraft
Technical field
The present invention relates to a kind of molding control methods, in particular to a kind of suitable for around the uniaxial motor-driven boat of Euler axis The molding control method of its device, is able to suppress the vibration excited in mobile process, realizes posture fast reserve and quickly steady It is fixed.
Background technique
It is special to control precision, the stability of spacecraft as the task and function of modern spacecraft platform become more diversified It is not that more stringent requirements are proposed for fast reserve ability.However the spacecraft for having flexible appendage, in fast reserve process In how to reduce the vibration of flexible appendage to influence caused by control system, be particularly important.
Traditional molding method is a kind of forming method for opened loop control torque, if directly in closed-loop control The torque output end of device adds molding device, will not only eliminate vibration, will lead to the concussion of system instead.And it applies at present The extensive molding method primary limitation of comparison in linear control system, for posture fast reserve control system Speech, no matter the kinematical equation of spacecraft or the attitude controller of spacecraft require to add nonlinear link, and for Vibration suppressing method containing nonlinear element cannot apply existing molding method.
Based on above-mentioned, the molding control method for proposing a kind of uniaxial maneuverable spacecraft is needed at present, is able to suppress machine Posture fast reserve and fast and stable are realized in the vibration excited during dynamic.
Summary of the invention
The object of the present invention is to provide a kind of molding control methods of uniaxial maneuverable spacecraft, are suitable for around Euler's axis Uniaxial motor-driven spacecraft realizes the Solve problems of nonlinear system equation by simplifying system features matrix, by angle plus Velocity compensation eliminates system features matrix because of residual oscillation brought by simplification.
To achieve the above object, the present invention provides a kind of molding control method of uniaxial maneuverable spacecraft, is suitable for Around the uniaxial motor-driven spacecraft of Euler's axis comprising the steps of:
S1, the mission requirements according to the spacecraft containing flexible appendage plan the posture and attitude angle speed of the spacecraft Motion path is spent, the state equation of the attitude motion of spacecraft is established；
S2, carry out the corresponding characteristic value of approximate calculation spacecraft flexible appendage using simplified system features matrix；
S3, the Con-eigenvalue for calculating molding device seek the parameter of molding device, complete molding device Design；
S4, Angular Acceleration Feedback item is added in the controller of spacecraft, compensation attitude motion state equation is because simplifying institute Caused residual oscillation.
In the S1, the state equation of the attitude motion of spacecraft containing flexible appendage are as follows:
Wherein, 0 is the null matrix for corresponding to dimension；E is the unit matrix of corresponding dimension；q0Indicate attitude of satellite quaternary Several scalar components；E3Indicate 3 rank unit matrixs；ucIndicate control moment；qvIndicate the vector section of attitude of satellite quaternary number；Indicate the projection in measuring satellite angular velocities three directions under co-ordinates of satellite system；Brot is the coupling matrix of flexible appendage；ωc It is using each rank flexible vibration frequency as the diagonal matrix of element；The inertia matrix of I expression satellite；ξcFor the damping ratio of flexible vibration, ηi For the array of the mode of oscillation composition of i-th of flexible appendage.
In the S2, simplified attitude motion state equation are as follows:
Wherein,For simplified system features matrix；The attitude motion state equation for solving the simplification, obtains spacecraft and scratches The property corresponding eigenvalue λ of attachment.
In the S3, the parameter of molding device is two, and the action time of one of parameter is 0, amplitude 1/ (1+K), the action time of another parameter are T, and amplitude is K/ (1+K)；Wherein, the expression formula of K and T are as follows:
It is Con-eigenvalue according to the ξ and ω that are obtained after being calculated in S3, and ξ and ω respectively indicate the equivalent resistance of flexible appendage Buddhist nun's ratio and vibration frequency, to obtain the parameter value T and K of molding device, it is Shaper that molding device is completed in design.
In the S4, angular acceleration molding item is added in the controller of spacecraft, compensates attitude motion state Equation is influenced because of the residual oscillation caused by simplification error, obtains the control moment u of controllercAre as follows:
In formula, Shaper indicates molding device；KpAnd KdIndicate PD control parameter, qvIndicate attitude of satellite quaternary number Vector section；qvdIndicate the vector section of satellite expectation attitude quaternion；qv0Indicate the arrow of initial time attitude of satellite quaternary number Measure part；Indicate the projection in measuring satellite angular velocities three directions under co-ordinates of satellite system；Indicate initial satellite posture The projection in angular speed three directions under co-ordinates of satellite system；adIndicate desired angular acceleration；ωdIndicate desired angular speed；e0 Indicate initial Euler's axis.
In conclusion the molding control method of single shaft maneuverable spacecraft provided by the invention, is suitable for around Euler's axis Uniaxial motor-driven spacecraft realizes the Solve problems of nonlinear system equation by simplifying system features matrix, by angle plus Velocity compensation eliminates system features matrix because of residual oscillation brought by simplification.
Detailed description of the invention
Fig. 1 is the flow chart of the molding control method of uniaxial maneuverable spacecraft in the present invention.
Specific embodiment
Below in conjunction with Fig. 1, the preferred embodiment that the present invention will be described in detail.
As shown in Figure 1, being suitable for for the molding control method of uniaxial maneuverable spacecraft provided by the invention around Euler The uniaxial motor-driven spacecraft of axis comprising the steps of:
S1, the mission requirements according to the spacecraft containing flexible appendage plan the posture and attitude angle speed of the spacecraft Motion path is spent, the state equation of the attitude motion of spacecraft is established；
S2, carry out the corresponding characteristic value of approximate calculation spacecraft flexible appendage using simplified system features matrix, and calculate The equivalent vibration frequency of flexible appendage；
S3, the Con-eigenvalue for calculating molding device seek the parameter of molding device, complete molding device Design；
S4, Angular Acceleration Feedback item is added in the controller of spacecraft, compensation attitude motion state equation is because simplifying institute Caused residual oscillation.
In the S1, the state equation of the attitude motion of spacecraft containing flexible appendage are as follows:
Wherein, 0 is the null matrix for corresponding to dimension；E is the unit matrix of corresponding dimension；Ic=E-BrotBrotT；H= (E-BrotTI-1Brot)-1；q0Indicate the scalar component of attitude of satellite quaternary number；E3Indicate 3 rank units Matrix；ucIndicate control moment；qvIndicate the vector section of attitude of satellite quaternary number；Indicate measuring satellite angular velocities in satellite The projection in lower three directions of coordinate system；Brot is the coupling matrix of flexible appendage；ωcIt is using each rank flexible vibration frequency as element Diagonal matrix；The inertia matrix of I expression satellite；ξcFor the damping ratio of flexible vibration, ηiFor the mode of oscillation of i-th of flexible appendage The array of composition.
In the S2, simplified attitude motion state equation are as follows:
Wherein,For simplified system features matrix；The attitude motion state equation for solving the simplification, obtains spacecraft and scratches The property corresponding eigenvalue λ of attachment.
In the S3, the parameter (minimum pulse number) of molding device is two, the action time of one of parameter A It is 0, amplitude is 1/ (1+K), the action time of another parameter B is T, and amplitude is K/ (1+K), specifically refer to following table:
Molding device parameter A B
Action time 0 T
Amplitude 1/(1+K) K/(1+K)
Wherein, the expression formula of K and T are as follows:
It is Con-eigenvalue according to the ξ and ω that are obtained after being calculated in S3, and ξ and ω respectively indicate the equivalent resistance of flexible appendage Buddhist nun's ratio and vibration frequency, to obtain the parameter value T and K of molding device, it is Shaper that molding device is completed in design.
In the S4, angular acceleration molding item is added in the controller of spacecraft, compensates attitude motion state Equation is influenced because of the residual oscillation caused by simplification error, obtains the control moment u of controllercAre as follows:
In formula, Shaper indicates molding device；KpAnd KdIndicate designer PD according to designed by system performance (ratio Example differential) control parameter, qvIndicate the vector section of attitude of satellite quaternary number；qvdIndicate the vector of satellite expectation attitude quaternion Part；qv0Indicate the vector section of initial time attitude of satellite quaternary number；Indicate measuring satellite angular velocities in co-ordinates of satellite system The projection in lower three directions；Indicate the projection in initial satellite attitude angular velocity three directions under co-ordinates of satellite system；adIt indicates Desired angular acceleration；ωdIndicate desired angular speed；e0Indicate initial Euler's axis.
The molding control method of single shaft maneuverable spacecraft provided by the invention has following compared with prior art Advantages and beneficial effects: 1, suitable for the control system containing nonlinear element；2, it theoretically can completely inhibit motor-driven The vibration excited in the process；3, it can achieve the effect that fast reserve and stable；4, will be pressed down completely after motor-driven due to vibrating System, therefore can be by the bigger of the bandwidth Design of spacecraft；5, high reliablity, and algorithm is simple, software is easy to accomplish on star.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.

Claims (3)

1. a kind of molding control method of single shaft maneuverable spacecraft, which is characterized in that be suitable for motor-driven around Euler's axis single shaft Spacecraft comprising the steps of:
S1, the mission requirements according to the spacecraft containing flexible appendage plan the posture and attitude angular velocity fortune of the spacecraft Dynamic path, establishes the state equation of the attitude motion of spacecraft；
S2, carry out the corresponding characteristic value of approximate calculation spacecraft flexible appendage using simplified attitude motion state equation, and calculate The equivalent vibration frequency of flexible appendage；
S3, the Con-eigenvalue for calculating molding device seek the parameter of molding device, complete setting for molding device Meter；
S4, Angular Acceleration Feedback item is added in the controller of spacecraft, caused by compensating attitude motion state equation because of simplification Residual oscillation；
In the S1, the state equation of the attitude motion of spacecraft containing flexible appendage are as follows:
Wherein, 0 is the null matrix for corresponding to dimension；E is the unit matrix of corresponding dimension；Ic=E-BrotBrotT；H=(E- BrotTI-1Brot)-1；q0Indicate the scalar component of attitude of satellite quaternary number；E3Indicate 3 rank unit squares Battle array；ucIndicate control moment；qvIndicate the vector section of attitude of satellite quaternary number；Indicate that measuring satellite angular velocities are sat in satellite The projection in lower three directions of mark system；Brot is the coupling matrix of flexible appendage；ωcIt is using each rank flexible vibration frequency as element Diagonal matrix；The inertia matrix of I expression satellite；ξcFor the damping ratio of flexible vibration, ηiFor the mode of oscillation group of i-th of flexible appendage At array；
In the S2, simplified attitude motion state equation are as follows:
Wherein, Pt *For simplified system features matrix；The attitude motion state equation for solving the simplification, it is attached to obtain spacecraft flexibility The corresponding eigenvalue λ of part.
2. the molding control method of single shaft maneuverable spacecraft as described in claim 1, which is characterized in that the S3 In, the parameter of molding device is two, and the action time of one of parameter is 0, and amplitude is 1/ (1+K), another parameter Action time be T, amplitude be K/ (1+K)；Wherein, the expression formula of K and T are as follows:
Be Con-eigenvalue according to obtained ξ and ω after being calculated in S3, ξ and ω respectively indicate the equivalent damping ratio of flexible appendage and Vibration frequency, to obtain the parameter value T and K of molding device, it is Shaper that molding device is completed in design.
3. the molding control method of single shaft maneuverable spacecraft as claimed in claim 2, which is characterized in that the S4 In, angular acceleration molding item is added in the controller of spacecraft, compensates attitude motion state equation because of simplification error institute Caused residual oscillation influences, and obtains the control moment u of controllercAre as follows:
In formula, Shaper indicates molding device；KpAnd KdIndicate PD control parameter, qvIndicate the vector of attitude of satellite quaternary number Part；qvdIndicate the vector section of satellite expectation attitude quaternion；qv0Indicate the vector portion of initial time attitude of satellite quaternary number Point；Indicate the projection in measuring satellite angular velocities three directions under co-ordinates of satellite system；Indicate initial satellite attitude angle speed Spend the projection in three directions under co-ordinates of satellite system；adIndicate desired angular acceleration；ωdIndicate desired angular speed；e0It indicates Initial Euler's axis.
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CN107807657B (en) * 2017-11-29 2021-01-26 南京理工大学 Flexible spacecraft attitude self-adaptive control method based on path planning
CN108958275B (en) * 2018-06-25 2023-09-26 南京理工大学 Rigid-flexible liquid coupling system attitude controller and maneuvering path joint optimization method

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