CN108536164A - Attitude control method of the Spacecraft without angular velocity measurement - Google Patents
Attitude control method of the Spacecraft without angular velocity measurement Download PDFInfo
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- CN108536164A CN108536164A CN201810255133.1A CN201810255133A CN108536164A CN 108536164 A CN108536164 A CN 108536164A CN 201810255133 A CN201810255133 A CN 201810255133A CN 108536164 A CN108536164 A CN 108536164A
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- 238000005259 measurement Methods 0.000 title claims abstract description 19
- 238000013461 design Methods 0.000 claims abstract description 7
- 239000011159 matrix material Substances 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
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- 238000012795 verification Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The present invention proposes a kind of attitude control method of the Spacecraft without angular velocity measurement, the posture of Spacecraft is described using the Rodrigues parameters of amendment type, the kinematical equation of the Rodrigues parameters based on amendment type is established, and attitude dynamic equations are established to Spacecraft of the Rigid Base with flexible appendage using hybrid coordinate method.For the attitude control system model of the Spacecraft of the Rodrigues parameters description of amendment type, go to replace angular velocity information by a kind of passive filter of introducing, to design a kind of attitude control law without angular velocity measurement based on feedback of status.The present invention solves the stable control that Spacecraft needs the measurement data of real-time angular-rate sensor that could realize spacecraft attitude in flight course, completes the high robust control of Spacecraft.The attitude control method without angular velocity measurement in the simulation results show present invention has good robustness.
Description
Technical field
The present invention relates to a kind of posture of technical field of spacecraft control more particularly to Spacecraft without angular velocity measurement
Control method.
Background technology
The measurement data of angular-rate sensor is needed in attitude controller designed by tradition research, it is expensive and easy
It is out of order, influences the application of practical spacecraft control, it cannot be guaranteed that excellent robustness.
Invention content
In view of the deficiencies in the prior art or insufficient, the present invention provides a kind of Spacecrafts without angular velocity measurement
Attitude control method, Rodrigues parameter system mould based on amendment type measurable in flexible mode variable
Type is devised a kind of attitude control law of the asymptotically stable feedback of status constructed based on feedback linearization method, can avoided
The use of angular-rate sensor in actual control system.
To achieve the goals above, the technical solution adopted by the present invention is that：
A kind of attitude control method of the Spacecraft without angular velocity measurement, including：S1, amendment type is established
The kinematical equation and kinetics equation of Rodrigues parameter system models；S2, selecting filter；S3, it is designed based on passive method
Attitude control law.
The beneficial effects of the invention are as follows：Using the attitude controller of the Spacecraft of the method for the present invention design, do not make
In the case of with angular-rate sensor, still ensures that the posture for smoothly controlling spacecraft, with good robustness, and work as
In running, the posture of spacecraft can tend towards stability rapidly spacecraft control.
Description of the drawings
Fig. 1 is the simulink model framework charts of attitude control method of the Spacecraft without angular velocity measurement.
Specific implementation mode
The present invention is further described for explanation and specific implementation mode below in conjunction with the accompanying drawings.
Present invention assumes that mode the variable η and ψ of Spacecraft can measure, design is a kind of to be based on feedback linearization method structure
The attitude control law for the asymptotically stable feedback of status made.
Step 1 establishes kinematical equation and kinetics equation
The posture of Spacecraft is described using the Rodrigues parameters of amendment type respectively, flexibility based on this
Kinematical equation and the kinetics equation difference of spacecraft control model are as follows：
The posture of Spacecraft, and flexible boat based on this are described using the Rodrigues parameters of amendment type
The kinematical equation of its device is as follows：
Wherein, ω is the attitude angular velocity of spacecraft, and G (σ) is expressed as following formula：
And the Rodrigues parameter vectors that σ is amendment type,For its derivative, antisymmetric matrix is：
The kinetics equation of the Rodrigues parameter system models of amendment type：
Wherein, S (ω) is the antisymmetric matrix of ω, i.e.,
Jmb=J- δTInertia matrix based on δ expressions,For the general speed of flexible appendage, ω indicates flexible
The attitude angular velocity of spacecraft；U indicates control moment；δ is expressed as the coupling square between dynamics of rigid bodies and flexible dynamics
Battle array；C, K are expressed as damping matrix and stiffness matrix,
C=diag { 2 ξiωni, i=1 ..., N }
Consider that N number of Elastic mode, corresponding natural angular frequency are ω in the present inventionni, i=1,2 ..., N, corresponding resistance
Buddhist nun's ratio isI=1,2 ..., N.
Step2 selecting filters
In order to replace the measurement of angular speed, following filter function is now chosen：
Wherein, z is the relevant passive filter of Rodrigues parameters with amendment type, is used to substitute angular speed
Feedback.Cv(s) it is the transfer matrix of three-dimensional a linearly invariant Strict Positive Real and stringent canonical.
It proves：Consider Cv(s) the arbitrary Minimal Realization of one is as follows：
According to Kalman-Yakubovich-PopV lemma it is found that there are following positive definite matrix P1And Q1Meet such as ShiShimonoseki
It is formula：
P1A1+A1 TP1=-Q1, P1B1=C1 T
Note：The realization without angular velocity measurement is by using z=sC abovev(s) σ, because of Cv(s) it is stringent canonical, institute
With sCv(s) it is canonical and is achievable, from output z to inputIt is passive.
Step3 is based on passive method and designs attitude control law
Design following state feedback control law：
Wherein,
Under the action of state feedback control law (8), the flexibility of posture is described using the Rodrigues parameters of amendment type
Spacecraft control can realize the gesture stability of no angular velocity measurement, and keep the even running of spacecraft attitude.
System chooses following liapunov function V：
Wherein, positive definite symmetric matrices P meets the Lyapunov Equation for corresponding to positive definite matrix Q as follows：
In formula, I is expressed as the unit matrix of suitable dimension.
Finally, it is demonstrate,proved by theory deductionIt can be obtained according to LaSalle invariant sets principle：It is based on state in this kind
Under the attitude control law of feedback, it is ensured that this closed-loop system is asymptotically stability.
Posture control of the Spacecraft without angular velocity measurement of the emulation experiment verification present invention as shown in Figure 1 is carried out below
Method processed, verification when mode variable can measure when, for amendment type Rodrigues parameter system models propose based on state
The attitude control law of feedback.
The main body inertia matrix J of SpacecraftmbFor：
Spacecraft rigid body portion and the coupling matrix delta of flexible part are：
The natural angular frequency of three mode variables of Spacecraft is：
The damped coefficient of the flexible appendage of spacecraft is：
The state feedback control law proposed for the Rodrigues parameter system models of amendment type emulates, amendment type
The posture initial value of Rodrigues parameters description is as follows：
σ (0)=[0.2675 0.1110 0.4633]T,
The angular speed of initial attitude is as follows：
ω (0)=[0 0 0]T,
In addition, the initial value of three mode variable of flexible appendage is：
ηi=0.001, ψi=0.001, i=1,2,3.
The parameter of attitude controller based on feedback of status is：
K=75, A1=-13I3×3, B1=6I3×3, Q1=2200I3×3, Q=0.15I6×6
In conclusion the present invention needs to use the survey of angular-rate sensor in traditional gesture stability for Spacecraft
Data are measured, and it is expensive and easy break-down, the problem of influencing the application of practical spacecraft control, devises one kind
The attitude control method without angular velocity measurement based on feedback of status.The purpose of this method is that solving Spacecraft is flying
It needs the measurement data of real-time angular-rate sensor that could realize the stable control of spacecraft attitude in the process, completes to scratch
Property spacecraft high robust control.The present invention describes the posture of Spacecraft using the Rodrigues parameters of amendment type,
The kinematical equation of the Rodrigues parameters based on amendment type is established, and flexibility is carried to Rigid Base using hybrid coordinate method
The Spacecraft of attachment establishes attitude dynamic equations.For the Spacecraft of the Rodrigues parameters description of amendment type
Attitude control system model, go to substitute angular velocity information by introducing a kind of passive filter and realize feedback, and then devise
A kind of attitude control law without angular velocity measurement based on feedback of status.Finally, the designed flexibility of emulation experiment verification is carried out
The gesture stability algorithm of spacecraft has good robustness.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention's
Protection domain.
Claims (3)
1. attitude control method of the Spacecraft without angular velocity measurement, it is characterised in that：Described method includes following steps：
S1, kinematical equation and kinetics equation are established；
The posture of Spacecraft, and Spacecraft based on this are described using the Rodrigues parameters of amendment type
The kinematical equation of system mathematic model is as follows：
Wherein,
In addition, ω indicates that the attitude angular velocity of Spacecraft, σ are the Rodrigues parameter vectors of amendment type,It is led for it
Number, antisymmetric matrix are：
The attitude dynamic equations established to spacecraft of the Rigid Base with flexible appendage using hybrid coordinate method are as follows：
Wherein, S (ω) is the antisymmetric matrix of angular velocity omega, i.e.,
Jmb=J- δTInertia matrix based on δ expressions,For the general speed of flexible appendage；U torques in order to control；δ tables
The coupling matrix being shown as between dynamics of rigid bodies and flexible dynamics；C, K are expressed as damping matrix and stiffness matrix；
S2, selecting filter design following filter：
Wherein, z is the relevant passive filter of Rodrigues parameters with amendment type, is used to substitute the anti-of angular speed
Feedback；Cv(s) it is the transfer matrix of three-dimensional a linearly invariant Strict Positive Real and stringent canonical；
S3, it is based on passive way design control law：
Wherein, k is gain coefficient, and positive definite symmetric matrices P meets the following Liapunov matrix side corresponding to positive definite matrix Q
Journey：
2. attitude control method according to claim 1, it is characterised in that：The attitude control method considers N number of elasticity
Mode, corresponding natural angular frequency are ωni, i=1,2 ..., N, corresponding damping ratio isThen
3. attitude control method according to claim 1, it is characterised in that：Cv(s) the arbitrary Minimal Realization of one is such as
Under：
Wherein, there are positive definite matrix P1And Q1Meet following relational expression：
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110134137A (en) * | 2019-06-18 | 2019-08-16 | 哈尔滨工业大学（深圳） | Spacecraft attitude tracking and controlling method based on extended state observer |
| CN114229039A (en) * | 2021-12-14 | 2022-03-25 | 内蒙古工业大学 | Self-adaptive non-angular-velocity compound control method for liquid-filled flexible spacecraft |
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| WO2002088633A1 (en) * | 2001-04-25 | 2002-11-07 | Nihon University | Apparatus and method for estimating attitude using inertial measurement equipment and program |
| CN101833337A (en) * | 2010-06-09 | 2010-09-15 | 哈尔滨工业大学 | Method for simultaneously realizing attitude maneuver and suppressing vibration of spacecraft with flexible accessory |
| CN103412491A (en) * | 2013-08-27 | 2013-11-27 | 北京理工大学 | Method for controlling index time-varying slide mode of flexible spacecraft characteristic shaft attitude maneuver |
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2018
- 2018-03-23 CN CN201810255133.1A patent/CN108536164B/en not_active Expired - Fee Related
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110134137A (en) * | 2019-06-18 | 2019-08-16 | 哈尔滨工业大学（深圳） | Spacecraft attitude tracking and controlling method based on extended state observer |
| CN110134137B (en) * | 2019-06-18 | 2021-11-23 | 哈尔滨工业大学（深圳） | Spacecraft attitude tracking control method based on extended state observer |
| CN114229039A (en) * | 2021-12-14 | 2022-03-25 | 内蒙古工业大学 | Self-adaptive non-angular-velocity compound control method for liquid-filled flexible spacecraft |
| CN114229039B (en) * | 2021-12-14 | 2023-09-15 | 内蒙古工业大学 | Self-adaptive non-angular velocity composite control method for liquid-filled flexible spacecraft |
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