CN110456812A - A kind of spacecraft high-precision attitude control method considering reaction wheel dynamic characteristic - Google Patents
A kind of spacecraft high-precision attitude control method considering reaction wheel dynamic characteristic Download PDFInfo
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Abstract
The present invention relates to a kind of spacecraft high-precision attitude control methods for considering reaction wheel dynamic characteristic, based on reaction wheel dynamic characteristic and spacecraft attitude dynamics, establish with moment of friction of equal value and back-emf interference of equal value and the spacecraft attitude control system Coupling Dynamic Model for considering reaction wheel dynamic characteristic；For moment of friction of equal value interference and the interference of flywheel equivalence back-emf, based on reaction wheel dynamic characteristic, non-matching interference observer and matching interference observer composition multi-source interference observer are separately designed, the interference of parity price moment of friction and its derivative and the interference of flywheel equivalence back-emf are estimated；Based on reaction wheel dynamic characteristic and multi-source interference observer, composite terminal sliding mode controller is designed, realizes the control of spacecraft high-precision attitude.The present invention has the advantages that control precision height, strong robustness, can be used for taking turns control spacecraft high-precision attitude control, be also extrapolated to using motor as the fields such as the aircraft manufacturing technology of executing agency and motor turning control.
Description
Technical field
The present invention relates to a kind of spacecraft high-precision attitude control methods for considering reaction wheel dynamic characteristic, are applied to wheel control boat
The control of its device high-precision attitude is also extrapolated to using motor as the aircraft manufacturing technology of executing agency and motor turning control etc.
Field.
Background technique
Spacecraft attitude control system is one of kernel subsystems of spacecraft, with the diversified development of spacecraft task
It is required with fining, brings high-precision, high reliability, the demand of long-life to spacecraft attitude system.As gesture stability
The specific implementation person of torque, reaction wheel have output torque continuous and precision is high, does not consume on star compared with other executing agencies
Limited fuel, the advantage for not polluting spaceborne optical device, operation on orbit service life length have been widely used in a variety of needs and have carried out height
On the spacecraft of precision and high stability gesture stability.However, reaction wheel, as a kind of mechanical system, core is dragged by motor
Turn is rotated, and can have moment of friction interference during operation, brought in revolving speed zero passage or the slow-speed of revolution to rub
Wiping torque will lead to output torque mutation, and then cause body vibration, influence the normal work of mission payload.Moreover, flywheel is electric
Machine generates uncertain influence to flywheel output torque since its physique will receive back-emf interference.Therefore, it needs to be promoted
Using reaction wheel as the tracking of the spacecraft attitude of executing agency and calm ability.
For there is the Spacecraft Attitude Control of reaction wheel moment of friction interference, many scholars also proposed difference
Method.It is said from model angle, the moment of friction interference of reaction wheel is only observed estimation by these methods, without further
Consider the derivative estimation of moment of friction, also without further considering that the electrical characteristic of bottom layer driving motor is interfered, such as patent application
Number ZL201510294341.9, number of patent application 201610196190.8.It is said from control method angle, common traditional posture control
Method processed has PID control, Sliding mode variable structure control and robust H∞Control.PID control and robust H∞Control is all typical dry
Suppressing method is disturbed, is all that interference is not made full use of interference characteristic as single equivalence variable.In order to promote control essence
Degree, from PID control, Han Jing Puritanism awards Active Disturbance Rejection Control (ADRC) method for proposing and having disturbance compensation ability, by with
Track differentiator, extended state observer and nonlinear feedback controller three parts are constituted, and are had whole actively estimation and are disturbed with compensation
Dynamic ability has been successfully applied in linear and nonlinear system.For example, patent authorization number ZL200410070983.2, application
Numbers 201510359468.4.However, ADRC is also to locate all disturbances as derivative bounded variable for single interference system
Reason.Sliding formwork control has strong robustness, responds the advantages such as fast, in document (Xiao B, Yin S, Wu L.A Structure
Simple Controller for Satellite Attitude Tracking Maneuver[J].IEEE
Transactions on Industrial Electronics, 2016,64 (2): 1-1) in, sliding formwork is mutually tied with PD control device
It closes, is applied in satellite gravity anomaly.But the norm upper bound of traditional sliding formwork control dependent on interference, conservative and convergence domain compared with
Greatly, and sliding formwork control bring chattering phenomenon influences practical engineering application.
To sum up, consider not fine or even ignored reaction wheel dynamic characteristic, executing agency and external environment to space flight
The factors such as the interference of device bring challenges to the control of spacecraft high-precision attitude, need to fully consider reaction wheel dynamic characteristic, and right
Interference carries out accurate estimation and compensation, controls energy by the spacecraft high-precision attitude of executing agency of reaction wheel to be promoted
Power.
Summary of the invention
Technology of the invention solves the problems, such as: for existing control method in the presence of interference hour wheel control spacecraft high-precision appearance
The problem of state control ability is short of proposes a kind of spacecraft high-precision that reaction wheel dynamic characteristic is considered based on interference observer
Attitude control method.
Technical solution of the invention are as follows: for using reaction wheel as the Spacecraft Attitude Control precision of executing agency by
Interference effect and the problem of decline, firstly, being based on reaction wheel dynamic characteristic and spacecraft attitude dynamics, establish with equivalence
Moment of friction and back-emf interference of equal value and the spacecraft attitude control system Coupled Dynamics for considering reaction wheel dynamic characteristic
Model；Secondly, being based on reaction wheel dynamic characteristic, respectively for moment of friction interference of equal value and the interference of flywheel equivalence back-emf
Design non-matching interference observer and matching interference observer composition multi-source interference observer, parity price moment of friction interference and its
Derivative and the interference of flywheel equivalence back-emf are estimated；Finally, it is based on reaction wheel dynamic characteristic and multi-source interference observer, if
Composite terminal sliding mode controller is counted, realizes the control of spacecraft high-precision attitude；Specific step is as follows:
The first step is based on reaction wheel dynamic characteristic and spacecraft attitude dynamics, establish with moment of friction of equal value and
Back-emf interference of equal value and the spacecraft attitude control system Coupling Dynamic Model for considering reaction wheel dynamic characteristic:
For spacecraft pitching movement, spacecraft attitude dynamics model are as follows:
Wherein, Jx、Jy、JzRespectively three axis rotary inertia of spacecraft, θ are spacecraft attitude angle,For the acceleration of spacecraft angle
Degree, n are spacecraft orbit operating rate, and ω is Speed of Reaction Wheels, and J is flywheel inertia.By adjust Speed of Reaction Wheels, carry out flywheel with
Angular momentum exchange between spacecraft celestial body realizes the control of spacecraft attitude angle.
Flywheel mechanical property dynamic are as follows:
Wherein, T is the electromagnetic drive torque of fly-wheel motor, and d is wheel friction disturbance torque, kvFor electric torque coefficient, f
(ω)=d is wheel friction torque.
Electrical characteristics dynamic are as follows:
Wherein, t is fly-wheel motor runing time, and L is armature inductance, iaFor armature supply, raFor armature resistance, UaFor electricity
Pivot voltage, keFor back emf coefficient.
Define equivalence variable x1=θ,x3=ia, u=Ua,Wherein,For space flight
Device attitude angular velocity.Consider that the spacecraft attitude equation of reaction wheel dynamic characteristic is as follows:
Wherein,It is posture equation coefficient.
Define spacecraft attitude angle tracking error e=θ-θr, it is expected that attitude angle θr=0.Define equivalence variable z1=e=θ=
x1,
It is dry with moment of friction of equal value and back-emf of equal value based on reaction wheel dynamic characteristic and spacecraft attitude dynamics
It disturbs and considers that the spacecraft attitude control system Coupling Dynamic Model of reaction wheel dynamic characteristic indicates as follows:
Second step is interfered for moment of friction interference of equal value in the first step and flywheel equivalence back-emf, based in the first step
Reaction wheel dynamic characteristic separately designs non-matching interference observer and matching interference observer composition multi-source interference observer,
The interference of parity price moment of friction and its derivative and the interference of flywheel equivalence back-emf are estimated:
For the interference of spacecraft equivalence moment of friction and its non-matching interference observer design of derivative are as follows:
Wherein, l11> 0, l12> 0 is to have non-matching interference observer gain to be designed,For spacecraft moment of friction
Interfere d1Estimated value,Derivative is interfered for spacecraft moment of frictionEstimated value, p11、p12For auxiliary State Variable.
For the matching interference observer design of flywheel equivalence back-emf interference are as follows:
Wherein, l2> 0 is to have matching interference observer gain to be designed,D is interfered for flywheel back-emf2Estimated value,
p2For auxiliary State Variable.
Third step designs composite terminal sliding formwork based on reaction wheel dynamic characteristic and multi-source interference observer in second step
Controller realizes the control of spacecraft high-precision attitude:
According to error dynamics equation, it is as follows to design sliding-mode surface:
Wherein, λf0> 0, λf1> 0, λf20,1 < α of >1< 2, α0> α1, α2< 1 is sliding-mode surface parameter.
Effect is buffeted to cut down, guarantees rapid finite time Convergence, has following fast terminal sliding formwork to reach rule:
Wherein, k1> 0, k20,0 < α of >3< 1 is that sliding formwork reaches rule parameter.
According to the estimated value of interference observer, it is as follows to design composite terminal sliding formwork control ratio:
U=u0+u1+u2
Wherein,
Wherein, u0For equivalence control input, u1To reach control input, u2For compensation control input.
The advantages of the present invention over the prior art are that: the present invention has fully considered reaction wheel dynamic characteristic, deeply
Analyze spacecraft attitude dynamics model and the brshless DC motor internal action containing moment of friction interference and back-emf interference
Mechanism establishes the mapping relations between spacecraft attitude angle and reaction wheels control voltage, completes with moment of friction of equal value
It is built with the spacecraft attitude control system Coupling Dynamic Model of reaction wheel dynamic characteristic the considerations of back-emf of equal value interference
Work, overcome conventional aerospace device model modeling it is inaccurate, it is inconsiderate to the shortcomings that；And it devises comprising non-matching interference
The multi-source interference observer interfered with matching and the composite terminal sliding-mode control based on interference observer, realize non-matching
Moment of friction interference compensation of equal value with match back-emf interference compensation of equal value, to improve the Shandong of spacecraft attitude control system
Stick and control precision.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention.
Specific embodiment
With reference to the accompanying drawing and example the present invention is described in more detail.
As shown in Figure 1, a kind of spacecraft high-precision attitude control method for considering reaction wheel dynamic characteristic of the present invention is as follows: the
One step is based on reaction wheel dynamic characteristic and spacecraft attitude dynamics, establishes with moment of friction of equal value and back-emf of equal value
Interference and the spacecraft attitude control system Coupling Dynamic Model for considering reaction wheel dynamic characteristic；Second step, for first
Moment of friction interference and the interference of flywheel equivalence back-emf of equal value, are based on reaction wheel dynamic characteristic in the first step, set respectively in step
Non-matching interference observer and matching interference observer composition multi-source interference observer are counted, parity price moment of friction is interfered and its led
The interference of several and flywheel equivalence back-emf is estimated；Third step, based on reaction wheel dynamic characteristic in second step and multi-source interference
Observer designs composite terminal sliding mode controller, realizes the control of spacecraft high-precision attitude.The present invention have control precision it is high,
The advantages of strong robustness, can be used for taking turns control spacecraft high-precision attitude control, be also extrapolated to using motor as executing agency and fly
The fields such as row device gesture stability and motor turning control.
Specific implementation step of the present invention is as follows:
The first step is based on reaction wheel dynamic characteristic and spacecraft attitude dynamics, establish with moment of friction of equal value and
Back-emf interference of equal value and the spacecraft attitude control system Coupling Dynamic Model for considering reaction wheel dynamic characteristic:
For spacecraft pitching movement, spacecraft attitude dynamics model are as follows:
Wherein, Jx、Jy、JzRespectively three axis rotary inertia of spacecraft, value 6.14kgm2、5.5kg·m2、
2.18kg·m2, θ is spacecraft attitude angle,For spacecraft angular acceleration, n is spacecraft orbit operating rate, and value is
0.0012rad/s, ω are Speed of Reaction Wheels, and J is flywheel inertia, value 0.06kgm2.By adjusting Speed of Reaction Wheels, carry out winged
Angular momentum exchange between wheel and spacecraft celestial body realizes the control of spacecraft attitude angle.
Flywheel mechanical property dynamic are as follows:
Wherein, T is the electromagnetic drive torque of fly-wheel motor, and d is wheel friction disturbance torque, kvFor electric torque coefficient,
Its value is 0.054Nm/A, and f (ω)=d is wheel friction torque.
Electrical characteristics dynamic are as follows:
Wherein, t is fly-wheel motor runing time, and L is armature inductance, value 1.1mH, iaFor armature supply, raFor armature
Resistance, value are 1.036 Ω, UaFor armature voltage, keFor back emf coefficient, value is 0.054V/ (rad/s).
Define equivalence variable x1=θ,x3=ia, u=Ua,Wherein,For space flight
Device attitude angular velocity.Consider that the spacecraft attitude equation of reaction wheel dynamic characteristic is as follows:
Wherein,It is posture equation coefficient.
Define spacecraft attitude angle tracking error e=θ-θr, it is expected that attitude angle θr=0.Define equivalence variable z1=e=θ=
x1,
It is dry with moment of friction of equal value and back-emf of equal value based on reaction wheel dynamic characteristic and spacecraft attitude dynamics
It disturbs and considers that the spacecraft attitude control system Coupling Dynamic Model of reaction wheel dynamic characteristic indicates as follows:
Second step is interfered for moment of friction interference of equal value in the first step and flywheel equivalence back-emf, based in the first step
Reaction wheel dynamic characteristic separately designs non-matching interference observer and matching interference observer composition multi-source interference observer,
The interference of parity price moment of friction and its derivative and the interference of flywheel equivalence back-emf are estimated:
For the non-matching interference observer design of spacecraft friction disturbance torque and its derivative are as follows:
Wherein, l11> 0, l12> 0 is to have non-matching interference observer gain to be designed,For spacecraft moment of friction
Interfere d1Estimated value,Derivative is interfered for spacecraft moment of frictionEstimated value, p11、p12For auxiliary State Variable.
For the matching interference observer design of flywheel back-emf interference are as follows:
Wherein, l2> 0 is to have matching interference observer gain to be designed,D is interfered for flywheel back-emf2Estimated value,
p2For auxiliary State Variable.
Third step designs composite terminal sliding formwork based on reaction wheel dynamic characteristic and multi-source interference observer in second step
Controller realizes the control of spacecraft high-precision attitude:
According to error dynamics equation, it is as follows to design sliding-mode surface:
Wherein, λf0> 0, λf1> 0, λf20,1 < α of >1< 2, α0> α1, α2< 1 is sliding-mode surface parameter.
Effect is buffeted to cut down, guarantees rapid finite time Convergence, has following fast terminal sliding formwork to reach rule:
Wherein, k1> 0, k20,0 < α of >3< 1 is that sliding formwork reaches rule parameter.
According to the estimated value of interference observer, it is as follows to design composite terminal sliding formwork control ratio:
U=u0+u1+u2
Wherein,
Wherein, u0For equivalence control input, u1To reach control input, u2For compensation control input.
The content that description in the present invention is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (4)
1. a kind of spacecraft high-precision attitude control method for considering reaction wheel dynamic characteristic, which comprises the following steps:
The first step is based on reaction wheel dynamic characteristic and spacecraft attitude dynamics, establishes with moment of friction of equal value and equivalence
Back-emf interference and the spacecraft attitude control system Coupling Dynamic Model for considering reaction wheel dynamic characteristic；
Second step is interfered for moment of friction of equal value interference and flywheel equivalence back-emf, is based on reaction wheel dynamic characteristic, respectively
Design non-matching interference observer and matching interference observer composition multi-source interference observer, parity price moment of friction interference and its
Derivative and the interference of flywheel equivalence back-emf are estimated；
Third step is based on reaction wheel dynamic characteristic and multi-source interference observer, designs composite terminal sliding mode controller, realizes boat
The spacecraft high-precision attitude control method for considering reaction wheel dynamic characteristic is completed in the control of its device high-precision attitude.
2. a kind of spacecraft high-precision attitude control method for considering reaction wheel dynamic characteristic according to claim 1, special
Sign is: in the first step, being based on reaction wheel dynamic characteristic and spacecraft attitude dynamics, establishes with frictional force of equal value
Square and back-emf interference of equal value and the spacecraft attitude control system Coupling Dynamic Model for considering reaction wheel dynamic characteristic, tool
Steps are as follows for body:
For spacecraft pitching movement, spacecraft attitude dynamics model are as follows:
Wherein, Jx、Jy、JzRespectively three axis rotary inertia of spacecraft, θ are spacecraft attitude angle,For spacecraft angular acceleration, n
For spacecraft orbit operating rate, ω is Speed of Reaction Wheels, and J is flywheel inertia；By adjusting Speed of Reaction Wheels, flywheel and space flight are carried out
Angular momentum exchange between device celestial body realizes the control of spacecraft attitude angle；
Flywheel mechanical property dynamic are as follows:
Wherein, T is the electromagnetic drive torque of fly-wheel motor, and d is wheel friction disturbance torque, kvFor electric torque coefficient, f (ω)
=d is wheel friction torque；
Electrical characteristics dynamic are as follows:
Wherein, t is fly-wheel motor runing time, and L is armature inductance, iaFor armature supply, raFor armature resistance, UaFor armature electricity
Pressure, keFor back emf coefficient；
Define equivalence variable x1=θ,x3=ia, u=Ua,Wherein,For spacecraft attitude
Angular speed considers that the spacecraft attitude equation of reaction wheel dynamic characteristic is as follows:
Wherein,It is posture equation coefficient；
Define spacecraft attitude angle tracking error e=θ-θr, it is expected that attitude angle θr=0, define equivalence variable z1=e=θ=x1,
Based on reaction wheel dynamic characteristic and spacecraft attitude dynamics, with moment of friction of equal value and back-emf interference of equal value and
Consider that the spacecraft attitude control system Coupling Dynamic Model of reaction wheel dynamic characteristic indicates as follows:
3. a kind of spacecraft high-precision attitude control method for considering reaction wheel dynamic characteristic according to claim 1, special
Sign is: described to separately design for moment of friction interference of equal value and the interference of flywheel equivalence back-emf, reaction wheel dynamic characteristic
Non-matching interference observer and matching interference observer form multi-source interference observer, the interference of parity price moment of friction and its derivative
Estimated with the interference of flywheel equivalence back-emf, the specific steps are as follows:
For the interference of spacecraft equivalence moment of friction and its non-matching interference observer design of derivative are as follows:
Wherein, l11> 0, l12> 0 is to have non-matching interference observer gain to be designed,D is interfered for spacecraft moment of friction1
Estimated value,Derivative is interfered for spacecraft moment of frictionEstimated value, p11、p12For auxiliary State Variable；
For the matching interference observer design of flywheel equivalence back-emf interference are as follows:
Wherein, l2> 0 is to have matching interference observer gain to be designed,D is interfered for flywheel back-emf2Estimated value, p2For
Auxiliary State Variable.
4. a kind of spacecraft high-precision attitude control method for considering reaction wheel dynamic characteristic according to claim 1, special
Sign is: in the third step, being based on reaction wheel dynamic characteristic and multi-source interference observer, designs composite terminal sliding formwork control
Device realizes the control of spacecraft high-precision attitude, the specific steps are as follows:
According to error dynamics equation, it is as follows to design sliding-mode surface:
Wherein, λf0> 0, λf1> 0, λf20,1 < α of >1< 2, α0> α1, α2< 1 is sliding-mode surface parameter；
Effect is buffeted to cut down, guarantees rapid finite time Convergence, has following fast terminal sliding formwork to reach rule:
Wherein, k1> 0, k20,0 < α of >3< 1 is that sliding formwork reaches rule parameter；
According to the estimated value of interference observer, it is as follows to design composite terminal sliding formwork control ratio:
U=u0+u1+u2
Wherein,
Wherein, u0For equivalence control input, u1To reach control input, u2For compensation control input.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111487860A (en) * | 2020-04-07 | 2020-08-04 | 上海卫星工程研究所 | High-precision rotating speed control method for large-inertia low-speed load |
| CN113419550A (en) * | 2021-06-23 | 2021-09-21 | 北京遥感设备研究所 | Output torque saturation anti-interference attitude control method and system for aircraft actuating mechanism |
| CN116540554A (en) * | 2023-07-06 | 2023-08-04 | 北京航空航天大学 | Spacecraft anti-interference quantitative attitude control method based on flywheel dynamics |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487860A (en) * | 2020-04-07 | 2020-08-04 | 上海卫星工程研究所 | High-precision rotating speed control method for large-inertia low-speed load |
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| CN113419550A (en) * | 2021-06-23 | 2021-09-21 | 北京遥感设备研究所 | Output torque saturation anti-interference attitude control method and system for aircraft actuating mechanism |
| CN116540554A (en) * | 2023-07-06 | 2023-08-04 | 北京航空航天大学 | Spacecraft anti-interference quantitative attitude control method based on flywheel dynamics |
| CN116540554B (en) * | 2023-07-06 | 2023-09-08 | 北京航空航天大学 | Spacecraft anti-interference quantitative attitude control method based on flywheel dynamics |
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Application publication date: 20191115 |