CN111158243B - Satellite attitude self-adaptive control method, device, controller and medium - Google Patents

Satellite attitude self-adaptive control method, device, controller and medium Download PDF

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CN111158243B
CN111158243B CN202010267186.2A CN202010267186A CN111158243B CN 111158243 B CN111158243 B CN 111158243B CN 202010267186 A CN202010267186 A CN 202010267186A CN 111158243 B CN111158243 B CN 111158243B
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satellite attitude
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时昕
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Beijing Ultimate Frontier Deep Space Technology Co., Ltd
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Abstract

The invention relates to a satellite attitude self-adaptive control method, a device, a controller and a medium, wherein the method comprises the steps of obtaining the parameters of a satellite attitude controller, the moment borne by a satellite and the actual attitude of the satellite at the current moment; determining a preset objective function value based on a preset virtual reference model, the satellite attitude controller parameters at the current moment, the moment borne by the satellite and the actual attitude of the satellite; and updating the satellite attitude controller parameters based on the objective function values and a preset objective function threshold value. The method does not depend on an accurate mathematical model of the satellite attitude, does not need repeated test experiments, obtains the appropriate dynamic satellite attitude controller parameters under the complex environment according to the specific control requirements, improves the robustness, stability, control accuracy and quick response capability of the satellite attitude control, and further improves the communication quality of the satellite.

Description

Satellite attitude self-adaptive control method, device, controller and medium
Technical Field
The invention relates to the technical field of spacecraft control, in particular to a satellite attitude self-adaptive control method, a satellite attitude self-adaptive control device, a satellite attitude self-adaptive controller and a satellite attitude self-adaptive medium.
Background
The satellite attitude control usually plays a crucial role in the communication quality of the satellites, and not only needs to ensure the stability of the ground orientation of each satellite, but also needs to keep the relative attitude among each satellite within a certain range. In the prior art, a proportional-integral-derivative (PID) control is usually adopted to control the satellite attitude, and specifically, parameters of a PID controller are determined according to an accurate mathematical model of the satellite attitude or repeated test experiments, where the parameters of the PID controller include a proportional parameter and a differential parameter.
However, the existing satellite attitude control technology has at least the following disadvantages:
(1) the flexible structure, the combined structure and the rotation of the antenna in the in-orbit service in the satellite often enable the parameters of the satellite attitude model to change in a large range, and the parameters of the traditional PID controller are mostly constant values, so that the controller cannot adapt to the change of the parameters of the satellite attitude model, the robustness of satellite attitude control is reduced, and the satellite communication quality is influenced.
(2) When the satellite is in orbit, the satellite is generally interfered by various environmental moments, and the attitude control of the satellite is required, for example, the attitude accuracy of a low-orbit communication satellite is controlled within 0.1 degrees. Due to the characteristics of strong nonlinearity, time variation, strong coupling and the like of the satellite attitude, an accurate mathematical model is difficult to obtain, and the setting of PID controller parameters (which means that controller parameters are determined by adjustment) is influenced, so that the satellite attitude has poor stability and low control precision, and the communication quality is influenced.
(3) Tuning of traditional PID controller parameters is typically based on a large amount of test experimental data. The normal operation of the satellite in orbit can be influenced in the test experiment process, and the satellite is generally required to transmit a large amount of experimental data back to the ground station for calculation, and then the calculated or manually adjusted parameter result of the PID controller is transmitted back to the satellite, so that the satellite attitude control system has poor quick response capability.
Disclosure of Invention
The invention aims to solve the technical problem of providing a satellite attitude self-adaptive control method, a satellite attitude self-adaptive control device, a satellite attitude self-adaptive controller and a satellite attitude self-adaptive medium.
In order to solve the above technical problem, according to an aspect of the present invention, there is provided a satellite attitude adaptive control method, including:
acquiring parameters of a satellite attitude controller at the current moment, moment borne by a satellite and actual attitude of the satellite;
determining a preset objective function value based on a preset virtual reference model, the satellite attitude controller parameters at the current moment, the moment borne by the satellite and the actual attitude of the satellite;
and updating the satellite attitude controller parameters based on the objective function values and a preset objective function threshold value.
Further, the method also comprises the following steps:
constructing the virtual reference model M(s), wherein the virtual reference model is used for representing the target corresponding relation between the actual attitude of the satellite and the expected attitude of the satellite, and the transfer function of the virtual reference model is as follows:
Figure DEST_PATH_IMAGE002AAAA
wherein the content of the first and second substances,
Figure 382561DEST_PATH_IMAGE004
、
Figure 237384DEST_PATH_IMAGE006
and
Figure 938493DEST_PATH_IMAGE008
are all the parameters of the model, and are,
Figure 769921DEST_PATH_IMAGE008
representing a delay parameter, m and n are positive integers,
Figure 240085DEST_PATH_IMAGE010
，
Figure 391710DEST_PATH_IMAGE012
is a natural constant and s is a complex variable.
Further, the satellite attitude controller is a PID controller, and the determining of the preset objective function value based on the preset virtual reference model and the satellite attitude controller parameter, the moment received by the satellite, and the actual attitude of the satellite at the current time includes:
by using
Figure 845694DEST_PATH_IMAGE014
The moment of force borne by the satellite is represented,
Figure 247857DEST_PATH_IMAGE016
which represents the actual attitude of the satellite(s),
Figure 510211DEST_PATH_IMAGE018
which represents the desired attitude of the satellite,
Figure 956104DEST_PATH_IMAGE020
proportional parameters of the satellite attitude controller;
Figure 648117DEST_PATH_IMAGE022
the integral parameter of the satellite attitude controller is obtained;
Figure 247113DEST_PATH_IMAGE024
for the differential parameters of the satellite attitude controller, the objective function is defined as
Figure 138540DEST_PATH_IMAGE026
：
Figure 896281DEST_PATH_IMAGE028
，
Figure 810010DEST_PATH_IMAGE030
，
Figure 6505DEST_PATH_IMAGE032
，
Figure 836927DEST_PATH_IMAGE034
，
Figure 640935DEST_PATH_IMAGE036
，
Figure 307539DEST_PATH_IMAGE038
，
Wherein the content of the first and second substances,
Figure 838884DEST_PATH_IMAGE040
the number of samples is represented by the number of samples,
Figure 274544DEST_PATH_IMAGE042
a time variable is represented by a time variable,
Figure 498721DEST_PATH_IMAGE044
；
Figure 387043DEST_PATH_IMAGE046
、
Figure 659761DEST_PATH_IMAGE048
、
Figure 668037DEST_PATH_IMAGE050
are all intermediate variables;
Figure 813848DEST_PATH_IMAGE052
the transfer function of the satellite attitude controller is obtained by performing Laplace transform on a mathematical expression of a traditional satellite attitude controller in a time domain, s is a complex variable of the transfer function of the satellite attitude controller, L (∙) represents the Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents the variance.
Further, the updating the satellite attitude controller parameter based on the objective function value and a preset objective function threshold includes:
judging whether the current time is smaller than a preset target function threshold value or not, if so, setting the satellite attitude controller parameter at the current time as a satellite attitude controller parameter, and returning to the step of acquiring the satellite attitude controller parameter, the moment borne by the satellite and the actual attitude of the satellite at the current time;
otherwise, updating the parameters of the satellite attitude controller based on the following formula, and returning to the step of determining the preset objective function value based on the preset virtual reference model, the parameters of the satellite attitude controller at the current moment, the moment borne by the satellite and the actual attitude of the satellite,
Figure 455045DEST_PATH_IMAGE054
，
Figure DEST_PATH_IMAGE056AAAA
Figure 271734DEST_PATH_IMAGE058
，
wherein the content of the first and second substances,
Figure 931254DEST_PATH_IMAGE060
the representation is defined as;
Figure 982387DEST_PATH_IMAGE062
represents the update rate of the satellite attitude controller parameters, 0<
Figure 360148DEST_PATH_IMAGE062
<1；
Figure 787718DEST_PATH_IMAGE064
、
Figure 318056DEST_PATH_IMAGE066
、
Figure 992620DEST_PATH_IMAGE068
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPIntegral parameter KIAnd a differential parameter KDThe first partial derivative of (a).
According to another aspect of the present invention, there is provided a satellite attitude adaptive control apparatus including:
the parameter acquisition module is configured to acquire the parameters of the satellite attitude controller, the moment borne by the satellite and the actual attitude of the satellite at the current moment;
the objective function value determining module is configured to determine a preset objective function value based on a preset virtual reference model, the satellite attitude controller parameter at the current moment, the moment borne by the satellite and the actual attitude of the satellite;
a controller parameter update module configured to update the satellite attitude controller parameter based on the objective function value and a preset objective function threshold.
Further, the virtual reference model building module is configured to:
constructing the virtual reference model M(s), wherein the virtual reference model is used for representing the target corresponding relation between the actual attitude of the satellite and the expected attitude of the satellite, and the transfer function of the virtual reference model is as follows:
Figure DEST_PATH_IMAGE002AAAAA
wherein the content of the first and second substances,
Figure 264201DEST_PATH_IMAGE004
、
Figure 479151DEST_PATH_IMAGE006
and
Figure 863996DEST_PATH_IMAGE008
are all the parameters of the model, and are,
Figure 771778DEST_PATH_IMAGE008
representing a delay parameter, m and n are positive integers,
Figure 609284DEST_PATH_IMAGE010
，
Figure 378657DEST_PATH_IMAGE012
is a natural constant and s is a complex variable.
Further, the objective function value determining module is specifically configured to:
the satellite attitude controller is a PID controller and adopts
Figure 132855DEST_PATH_IMAGE014
The moment of force borne by the satellite is represented,
Figure 962271DEST_PATH_IMAGE016
which represents the actual attitude of the satellite(s),
Figure 288339DEST_PATH_IMAGE018
which represents the desired attitude of the satellite,
Figure 861403DEST_PATH_IMAGE020
proportional parameters of the satellite attitude controller;
Figure 220840DEST_PATH_IMAGE022
the integral parameter of the satellite attitude controller is obtained;
Figure 470425DEST_PATH_IMAGE024
as a differential parameter of the satellite attitude controller,
the objective function is defined as
Figure 16944DEST_PATH_IMAGE026
：
Figure 377387DEST_PATH_IMAGE028
，
Figure 591331DEST_PATH_IMAGE030
，
Figure 762549DEST_PATH_IMAGE032
，
Figure 311211DEST_PATH_IMAGE034
，
Figure 226077DEST_PATH_IMAGE036
，
Figure DEST_PATH_IMAGE070AA
Wherein the content of the first and second substances,
Figure 950320DEST_PATH_IMAGE040
the number of samples is represented by the number of samples,
Figure 276128DEST_PATH_IMAGE042
a time variable is represented by a time variable,
Figure 62818DEST_PATH_IMAGE044
；
Figure 781375DEST_PATH_IMAGE046
、
Figure 953600DEST_PATH_IMAGE048
、
Figure 466621DEST_PATH_IMAGE050
are all intermediate variables;
Figure 989875DEST_PATH_IMAGE052
the transfer function of the satellite attitude controller is obtained by performing Laplace transform on a mathematical expression of a traditional satellite attitude controller in a time domain, s is a complex variable of the transfer function of the satellite attitude controller, L (∙) represents the Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents the variance.
Further, the controller parameter updating module is specifically configured to:
judging whether the current time is smaller than a preset target function threshold value or not, if so, setting the satellite attitude controller parameter at the current time as a satellite attitude controller parameter, and returning the satellite attitude controller parameter to the parameter acquisition module;
otherwise, updating the parameters of the satellite attitude controller based on the following formula and returning to the objective function value determining module,
Figure 246544DEST_PATH_IMAGE054
，
Figure DEST_PATH_IMAGE056AAAAA
Figure 951238DEST_PATH_IMAGE058
，
wherein the content of the first and second substances,
Figure 635160DEST_PATH_IMAGE060
the representation is defined as;
Figure 583393DEST_PATH_IMAGE062
represents the update rate of the satellite attitude controller parameters, 0<
Figure 627441DEST_PATH_IMAGE062
<1；
Figure 259411DEST_PATH_IMAGE064
、
Figure 629081DEST_PATH_IMAGE066
、
Figure 612081DEST_PATH_IMAGE068
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPIntegral parameter KIAnd a differential parameter KDThe first partial derivative of (a).
According to yet another aspect of the invention, a controller is provided comprising a memory and a processor, the memory storing a computer program enabling the implementation of the steps of the method when the program is executed by the processor.
According to yet another aspect of the invention, a computer-readable storage medium is provided for storing a computer program, which when executed by a computer or processor, performs the steps of the method.
Compared with the prior art, the invention has obvious advantages and beneficial effects. By means of the technical scheme, the satellite attitude self-adaptive control method, the satellite attitude self-adaptive control device, the satellite attitude self-adaptive controller and the satellite attitude self-adaptive medium can achieve considerable technical progress and practicability, have industrial wide utilization value and at least have the following advantages:
the method can adjust the parameters of the satellite attitude controller in real time according to various states of the satellite attitude so as to adapt to the change of the parameters of the satellite attitude model, thereby improving the robustness of better satellite attitude control. The invention also avoids adopting an accurate mathematical model of the satellite attitude, can realize the self-adaptive setting of the satellite attitude controller by only acquiring a plurality of groups of real-time input and output data (the moment borne by the satellite and the actual attitude of the satellite), avoids the satellite attitude from carrying out repeated test experiments for many times, and improves the stability and the control precision of the satellite attitude control. In addition, the method does not need to transmit the acquired data back to the ground station for calculation or manual setting, but obtains the optimized satellite attitude controller parameters by utilizing the on-board computer for real-time calculation, thereby ensuring the quick response capability of the control system.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is an architecture diagram of a prior art satellite attitude control using PID;
fig. 2 is an architecture diagram of a satellite attitude adaptive control method according to an embodiment of the present invention;
fig. 3 is a flowchart of a satellite attitude adaptive control method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a satellite attitude adaptive control apparatus according to an embodiment of the present invention.
[ notation ] to show
1: the parameter obtaining module 2: objective function value determining module
3: controller parameter updating module
Detailed Description
To further illustrate the technical means and effects of the present invention for achieving the predetermined objects, the following detailed description will be given with reference to the accompanying drawings and preferred embodiments of a satellite attitude adaptive control method, device, controller and medium according to the present invention.
The prior art adopts an architecture diagram of controlling the satellite attitude by using a PID (proportion integration differentiation) as shown in figure 1, and is a closed-loop control system block diagram formed by a PID controller, wherein the closed-loop control system is a type of control system, and means that part or all of the output quantity of the control system is fed back to the input end of the system through a certain method and device, then the feedback information is compared with the original input information, and the compared result is applied to the system for control, so that the system is prevented from deviating from a preset target. Specifically, in fig. 1, y (t) is the control system output, representing the actual attitude of the satellite; u (t) is the input of the satellite attitude model and represents the moment borne by the satellite; r (t) is a control system input representing a desired attitude of the satellite; e (t) = r (t) -y (t) is a control system deviation, representing an attitude deviation; t represents a time variable.
The PID controller characterizes the functional relationship between the attitude deviation e (t) and the moment u (t), and the typical expression is as follows:
Figure DEST_PATH_IMAGE072AA
wherein the content of the first and second substances,
Figure 866345DEST_PATH_IMAGE020
proportional parameters of the PID controller;
Figure 883979DEST_PATH_IMAGE022
is an integral parameter of the PID controller;
Figure 158972DEST_PATH_IMAGE074
is a differential parameter of a PID controller;
Figure 363688DEST_PATH_IMAGE076
is the integral of the attitude deviation e (t) over time t;
Figure 15118DEST_PATH_IMAGE078
is the first derivative of the attitude deviation e (t) with respect to time t. Laplace transform is carried out on the formula to obtain an expression of a transfer function C(s) corresponding to the PID controller as
Figure 887259DEST_PATH_IMAGE080
（1）
Where s is a complex variable of the transfer function, i.e., a complex field variable.
The key to using PID control is to find the appropriate controller parameter, i.e., the proportional parameter
Figure 83885DEST_PATH_IMAGE020
Integral parameter
Figure 290745DEST_PATH_IMAGE022
And differential parameters
Figure 965440DEST_PATH_IMAGE074
The actual attitude of the satellite while in-orbit service is maintained near the desired attitude.
As described above, since the parameters of the conventional PID controller are constant values and the setting of the parameters needs to be established on the basis of an accurate mathematical model of the satellite attitude and a large amount of test experimental data, the conventional method cannot obtain appropriate PID controller parameters, which affects the robustness, stability, control accuracy and fast response capability of the in-orbit satellite attitude.
Based on this, the embodiment of the present invention provides a satellite attitude adaptive control technology based on FRIT (virtual Reference iterative tuning) data driving, where FRIT is a control method based on data driving, and uses a set of input and output data of a closed-loop control system to iteratively tune a satellite attitude controller parameter, so as to implement adaptive tuning of the satellite attitude controller parameter. The corresponding satellite attitude closed-loop control architecture diagram is shown in fig. 2, where p(s) is the controlled object, i.e. the satellite attitude, c(s) is the satellite attitude controller, and the satellite attitude controller parameters may include the proportional parameters
Figure 935495DEST_PATH_IMAGE020
Integral parameter
Figure 568602DEST_PATH_IMAGE022
And differential parameters
Figure 13490DEST_PATH_IMAGE074
. y (t) represents the actual attitude of the satellite; u (t) denotes a satelliteA force moment; r (t) represents the desired attitude of the satellite; e (t) = r (t) -y (t) represents a posture deviation; t is a time variable; s is a complex variable. Specifically, an embodiment of the present invention provides a satellite attitude adaptive control method, as shown in fig. 3, including the following steps:
s1, acquiring the parameters of a satellite attitude controller, the moment borne by the satellite and the actual attitude of the satellite at the current moment;
step S2, determining a preset objective function value based on a preset virtual reference model, the satellite attitude controller parameters at the current moment, the moment borne by the satellite and the actual attitude of the satellite;
and step S3, updating the satellite attitude controller parameters based on the objective function value and a preset objective function threshold value.
The method of the embodiment of the invention does not depend on an accurate mathematical model of the satellite attitude, does not need repeated test experiments, obtains the appropriate dynamic satellite attitude controller parameters in a complex environment according to the specific control requirements, improves the robustness, stability, control precision and quick response capability of the satellite attitude control, and further improves the communication quality of the satellite.
As an example, the solution does not need an accurate model of the satellite attitude, but needs to define a virtual reference model m (S) in advance, the method further includes step S10 of constructing the virtual reference model m (S), the virtual reference model is used for representing the target correspondence between the satellite actual attitude and the satellite desired attitude, and the transfer function of the virtual reference model is as follows:
Figure DEST_PATH_IMAGE082AA
wherein the content of the first and second substances,
Figure 131356DEST_PATH_IMAGE004
、
Figure 978090DEST_PATH_IMAGE006
and
Figure 516518DEST_PATH_IMAGE008
are all the parameters of the model, and are,
Figure 697970DEST_PATH_IMAGE008
representing a delay parameter, m and n are positive integers,
Figure 980047DEST_PATH_IMAGE010
，
Figure 930554DEST_PATH_IMAGE012
is a natural constant and s is a complex variable.
It should be noted that formula (2) is only an example of the transfer function of the virtual reference model m(s), the transfer function of the virtual reference model m(s) is not limited to the expression of formula (2), and other expressions representing the target corresponding relationship between the actual attitude of the satellite and the desired attitude of the satellite may also be suitable for this.
According to the embodiment of the invention, an accurate satellite attitude model does not need to be mastered, but a virtual reference model can be predefined according to requirements and experiences, and the parameters of the self-adaptive controller are set according to input and output data (the moment borne by the satellite and the actual attitude) acquired in real time, so that the stability and the control accuracy of the satellite attitude are improved.
As an example, the satellite attitude controller is a PID controller, and the step S2 includes:
by using
Figure 905463DEST_PATH_IMAGE014
The moment of force borne by the satellite is represented,
Figure 59364DEST_PATH_IMAGE016
which represents the actual attitude of the satellite(s),
Figure 128820DEST_PATH_IMAGE018
which represents the desired attitude of the satellite,
Figure 684566DEST_PATH_IMAGE020
proportional parameters of the satellite attitude controller;
Figure 79644DEST_PATH_IMAGE022
the integral parameter of the satellite attitude controller is obtained;
Figure 720841DEST_PATH_IMAGE024
as a differential parameter of the satellite attitude controller,
the objective function is defined as
Figure 344721DEST_PATH_IMAGE026
：
Figure 269820DEST_PATH_IMAGE028
，
Figure 586532DEST_PATH_IMAGE030
，
Figure 715025DEST_PATH_IMAGE032
，
Figure 132143DEST_PATH_IMAGE034
，
Figure 396902DEST_PATH_IMAGE036
，
Figure DEST_PATH_IMAGE084AAAA
Wherein the content of the first and second substances,
Figure 540308DEST_PATH_IMAGE040
the number of samples is represented by the number of samples,
Figure 405364DEST_PATH_IMAGE042
a time variable is represented by a time variable,
Figure 636626DEST_PATH_IMAGE044
；
Figure 270738DEST_PATH_IMAGE046
、
Figure 663673DEST_PATH_IMAGE048
、
Figure 766759DEST_PATH_IMAGE050
are intermediate variables, L (∙) denotes the Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents variance;
Figure 191924DEST_PATH_IMAGE088
is a transfer function of the satellite attitude controller, is obtained by Laplace transform of a mathematical expression of the traditional satellite attitude controller on a time domain, s is a complex variable of the transfer function of the satellite attitude controller, and when the satellite attitude controller is a PID controller, can be known by a formula (1),
Figure 946122DEST_PATH_IMAGE090
。
it should be noted that the satellite attitude controller is not limited to the PID controller, but may also be a variant of the PID controller, such as a PD controller, and when the satellite attitude controller is a PD controller, only the corresponding satellite attitude controller parameter in the formula for calculating the objective function needs to be replaced, for example, when the satellite attitude controller is a PD controller, the PD controller is adopted
Figure 244379DEST_PATH_IMAGE091
The moment of force borne by the satellite is represented,
Figure 818449DEST_PATH_IMAGE092
which represents the actual attitude of the satellite(s),
Figure 391513DEST_PATH_IMAGE093
representing the desired attitude of the satellite with the satellite attitude controller parameters of
Figure 734638DEST_PATH_IMAGE095
，
Figure 734955DEST_PATH_IMAGE096
Represents a proportional parameter of the satellite attitude controller,
Figure 547053DEST_PATH_IMAGE097
a differential parameter representing the attitude controller of the satellite,
the objective function is defined as
Figure 925075DEST_PATH_IMAGE099
：
Figure 139018DEST_PATH_IMAGE101
，
Figure 559504DEST_PATH_IMAGE103
，
Figure 593319DEST_PATH_IMAGE105
，
Figure 508186DEST_PATH_IMAGE107
，
Figure 825903DEST_PATH_IMAGE109
，
Figure 168023DEST_PATH_IMAGE111
，
Wherein the content of the first and second substances,
Figure 203981DEST_PATH_IMAGE112
the number of samples is represented by the number of samples,
Figure 391380DEST_PATH_IMAGE042
a time variable is represented by a time variable,
Figure 579916DEST_PATH_IMAGE113
；
Figure 342204DEST_PATH_IMAGE115
、
Figure 616191DEST_PATH_IMAGE116
、
Figure 856548DEST_PATH_IMAGE118
、
Figure 634011DEST_PATH_IMAGE120
are intermediate variables, L (∙) denotes the Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents the variance,
Figure 567201DEST_PATH_IMAGE088
the transfer function of the satellite attitude controller is obtained by performing Laplace transform on a mathematical expression of a traditional satellite attitude controller in a time domain, s is a complex variable of the transfer function of the satellite attitude controller, and when the satellite attitude controller is a PD controller, the transfer function can be obtained by the following process
Figure 62904DEST_PATH_IMAGE088
Expression:
the PD controller characterizes a functional relationship between the attitude deviation e (t) and the moment u (t), which is typically expressed as:
Figure DEST_PATH_IMAGE122AA
wherein the content of the first and second substances,
Figure 779057DEST_PATH_IMAGE096
proportional parameters of the PD controller;
Figure 676605DEST_PATH_IMAGE097
is a differential parameter of the PD controller;
Figure 520977DEST_PATH_IMAGE123
is the first derivative of the attitude deviation e (t) with respect to time t. The above formula is enteredThe expression of the transfer function C(s) corresponding to the PD controller obtained by line Laplace transformation is
Figure 769555DEST_PATH_IMAGE125
（3）
Where s is a complex variable of the transfer function, i.e., a complex field variable.
As an example, the step S3 includes:
step S31, judging whether the current time is smaller than a preset target function threshold value, if so, setting the satellite attitude controller parameter of the current time as the satellite attitude controller parameter, returning to execute the step S1, and otherwise, executing the step S32;
from the loop of step S31 back to step S1, the satellite attitude controller parameters that minimize the objective function under the current acquired data (the moment received by the satellite and the actual attitude of the satellite), i.e., the optimal satellite attitude controller parameters, can be determined.
Step S32, updating the satellite attitude controller parameters based on the following formula, and returning to execute step S2,
when the satellite attitude controller is a PID controller, the corresponding update formula is as follows:
Figure 617295DEST_PATH_IMAGE126
，
Figure DEST_PATH_IMAGE128AAAA
Figure 25142DEST_PATH_IMAGE129
，
wherein the content of the first and second substances,
Figure 50867DEST_PATH_IMAGE130
the representation is defined as;
Figure 504851DEST_PATH_IMAGE131
representing satellite attitude controller parameter update rate，0<
Figure 907013DEST_PATH_IMAGE131
<1；
Figure 762843DEST_PATH_IMAGE132
、
Figure 225048DEST_PATH_IMAGE133
、
Figure 182640DEST_PATH_IMAGE134
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPIntegral parameter KIAnd a differential parameter KDThe first partial derivative of (a).
When the satellite attitude controller is a PD controller, the corresponding update formula is:
Figure 965657DEST_PATH_IMAGE136
，
Figure 692305DEST_PATH_IMAGE138
，
wherein the content of the first and second substances,
Figure 574679DEST_PATH_IMAGE130
the representation is defined as;
Figure 488408DEST_PATH_IMAGE131
represents the update rate of the satellite attitude controller parameters, 0<
Figure 475781DEST_PATH_IMAGE131
<1；
Figure 322515DEST_PATH_IMAGE140
、
Figure 860943DEST_PATH_IMAGE142
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPAnd a differential parameter KDThe first partial derivative of (a).
And returning to the loop of the step S2 from the step S32, and further iteratively searching the satellite attitude controller parameter which minimizes the objective function based on the result obtained in the step S32, so that the optimality of the obtained satellite attitude controller parameter is further ensured, and the optimality ensures the robustness, stability, control precision and quick response capability of the satellite attitude.
The method disclosed by the embodiment of the invention has the core that the parameters of the satellite attitude controller are optimized in real time, so that the objective function is minimum (the function is a multivariable function related to the parameters of the satellite attitude controller), and the actual attitude y (t) of the satellite tends to be the expected attitude r (t) of the satellite according to the parameters of the satellite attitude controller under the condition.
According to the embodiment of the invention, the test experiment is not required to be repeated for many times, but only one group or a plurality of groups of moments borne by the satellite and the actual attitude of the satellite are required to be acquired, and the parameter self-adaptive setting of the satellite attitude controller is carried out on the satellite-borne computer according to a specific algorithm. Therefore, data transmission between the satellite and the ground station can be avoided, and the quick response capability of the satellite attitude is improved. In addition, the embodiment of the invention takes the collected moment and actual attitude data of the satellite as basic samples, optimizes the objective function by adopting a machine learning algorithm, and updates the parameters of the satellite attitude controller in real time. The dynamic satellite attitude controller parameters can adapt to the change of the satellite attitude model parameters, and the robustness of the control system is improved.
The embodiment of the invention also provides a satellite attitude self-adaptive control device, which comprises a parameter acquisition module 1, an objective function value determination module 2 and a controller parameter updating module 3, wherein the parameter acquisition module 1 is configured to acquire a satellite attitude controller parameter, a satellite borne moment and a satellite actual attitude at the current moment; the objective function value determining module 2 is configured to determine a preset objective function value based on a preset virtual reference model, the satellite attitude controller parameter at the current moment, the moment borne by the satellite and the actual attitude of the satellite; a controller parameter updating module 3 configured to update the satellite attitude controller parameter based on the objective function value and a preset objective function threshold. The device provided by the embodiment of the invention does not depend on an accurate mathematical model of the satellite attitude, does not need repeated test experiments, obtains appropriate dynamic satellite attitude controller parameters in a complex environment according to specific control requirements, improves the robustness, stability, control precision and quick response capability of satellite attitude control, and further improves the communication quality of the satellite.
As an example, the apparatus further comprises a virtual reference model building module configured to: constructing the virtual reference model M(s), wherein the virtual reference model is used for representing the target corresponding relation between the actual attitude of the satellite and the expected attitude of the satellite, and the transfer function of the virtual reference model is as follows:
Figure DEST_PATH_IMAGE144AA
wherein the content of the first and second substances,
Figure 448920DEST_PATH_IMAGE145
、
Figure 714685DEST_PATH_IMAGE146
and
Figure 415924DEST_PATH_IMAGE147
are all the parameters of the model, and are,
Figure 374522DEST_PATH_IMAGE147
representing a delay parameter, m and n are positive integers,
Figure 794002DEST_PATH_IMAGE148
，
Figure 879770DEST_PATH_IMAGE149
is a natural constant and s is a complex variable.
It should be noted that formula (2) is only an example of the transfer function of the virtual reference model m(s), the transfer function of the virtual reference model m(s) is not limited to the expression of formula (2), and other expressions representing the target corresponding relationship between the actual attitude of the satellite and the desired attitude of the satellite may also be suitable for this.
According to the embodiment of the invention, an accurate satellite attitude model does not need to be mastered, but a virtual reference model can be predefined according to requirements and experiences, and the parameters of the self-adaptive controller are set according to input and output data (the moment borne by the satellite and the actual attitude) acquired in real time, so that the stability and the control accuracy of the satellite attitude are improved.
As an example, the objective function value determining module 2 is specifically configured to:
by using
Figure 419204DEST_PATH_IMAGE091
The moment of force borne by the satellite is represented,
Figure 565015DEST_PATH_IMAGE092
which represents the actual attitude of the satellite(s),
Figure 455479DEST_PATH_IMAGE093
which represents the desired attitude of the satellite,
Figure 813780DEST_PATH_IMAGE096
proportional parameters of the satellite attitude controller;
Figure 738879DEST_PATH_IMAGE150
the integral parameter of the satellite attitude controller is obtained;
Figure 790012DEST_PATH_IMAGE151
as a differential parameter of the satellite attitude controller,
the objective function is defined as
Figure 918505DEST_PATH_IMAGE152
：
Figure 595343DEST_PATH_IMAGE153
，
Figure 125681DEST_PATH_IMAGE154
，
Figure 613294DEST_PATH_IMAGE155
，
Figure 218631DEST_PATH_IMAGE156
，
Figure 184313DEST_PATH_IMAGE157
，
Figure DEST_PATH_IMAGE084AAAAA
Wherein the content of the first and second substances,
Figure 224950DEST_PATH_IMAGE112
the number of samples is represented by the number of samples,
Figure 132732DEST_PATH_IMAGE042
a time variable is represented by a time variable,
Figure 235817DEST_PATH_IMAGE113
；
Figure 254458DEST_PATH_IMAGE158
、
Figure 493809DEST_PATH_IMAGE116
、
Figure 323225DEST_PATH_IMAGE159
are intermediate variables, L (∙) denotes the Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents variance;
Figure 569399DEST_PATH_IMAGE088
the transfer function of the satellite attitude controller is obtained by performing Laplace transform on a mathematical expression of the traditional satellite attitude controller in a time domain, s is a complex variable of the transfer function of the satellite attitude controller, and the satelliteWhen the attitude controller is a PID controller, the formula (1) shows that,
Figure 126151DEST_PATH_IMAGE090
。
it should be noted that the satellite attitude controller is not limited to the PID controller, but may also be a variant of the PID controller, such as a PD controller, and when the satellite attitude controller is a PD controller, only the corresponding satellite attitude controller parameter in the formula for calculating the objective function needs to be replaced, for example, when the satellite attitude controller is a PD controller, the PD controller is adopted
Figure 485588DEST_PATH_IMAGE091
The moment of force borne by the satellite is represented,
Figure 735173DEST_PATH_IMAGE092
which represents the actual attitude of the satellite(s),
Figure 547271DEST_PATH_IMAGE093
representing the desired attitude of the satellite with the satellite attitude controller parameters of
Figure 658446DEST_PATH_IMAGE095
，
Figure 121658DEST_PATH_IMAGE096
Represents a proportional parameter of the satellite attitude controller,
Figure 292876DEST_PATH_IMAGE097
a differential parameter representing the attitude controller of the satellite,
the objective function is defined as
Figure 859116DEST_PATH_IMAGE099
：
Figure 242824DEST_PATH_IMAGE101
，
Figure 576853DEST_PATH_IMAGE103
，
Figure 168240DEST_PATH_IMAGE105
，
Figure 954931DEST_PATH_IMAGE107
，
Figure 657176DEST_PATH_IMAGE109
，
Figure 845712DEST_PATH_IMAGE111
，
Wherein the content of the first and second substances,
Figure 358733DEST_PATH_IMAGE112
the number of samples is represented by the number of samples,
Figure 881987DEST_PATH_IMAGE042
a time variable is represented by a time variable,
Figure 873077DEST_PATH_IMAGE113
；
Figure 165387DEST_PATH_IMAGE115
、
Figure 849309DEST_PATH_IMAGE116
、
Figure 345013DEST_PATH_IMAGE118
、
Figure 654640DEST_PATH_IMAGE120
are all intermediate variables;
Figure 286610DEST_PATH_IMAGE160
is a transfer function of the satellite attitude controller, is obtained by Laplace transform of a mathematical expression of the traditional satellite attitude controller on a time domain, and s is satelliteThe complex variable of the transfer function of the satellite attitude controller can be known from the formula (3), when the satellite attitude controller is a PD controller,
Figure 390701DEST_PATH_IMAGE125
l (∙) denotes Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents the variance.
As an example, the controller parameter updating module 3 is specifically configured to:
and judging whether the current time is less than a preset target function threshold value, if so, setting the satellite attitude controller parameter at the current time as the satellite attitude controller parameter, returning to the parameter acquisition module 1, and returning to the cycle of the parameter acquisition module 1 from the controller parameter updating module 3, so that the satellite attitude controller parameter which minimizes the target function under the current acquired data (the moment borne by the satellite and the actual attitude of the satellite), namely the optimal satellite attitude controller parameter, can be determined.
Otherwise, the parameters of the satellite attitude controller are updated based on the following formula and returned to the objective function value determining module 2,
when the satellite attitude controller is a PID controller, the corresponding update formula is as follows:
Figure 639280DEST_PATH_IMAGE126
，
Figure DEST_PATH_IMAGE128AAAAA
Figure 893543DEST_PATH_IMAGE129
，
wherein the content of the first and second substances,
Figure 645599DEST_PATH_IMAGE130
the representation is defined as;
Figure 192030DEST_PATH_IMAGE131
representing the update speed of the satellite attitude controller parametersRate, 0<
Figure 662325DEST_PATH_IMAGE131
<1；
Figure 48176DEST_PATH_IMAGE132
、
Figure 654738DEST_PATH_IMAGE133
、
Figure 116943DEST_PATH_IMAGE134
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPIntegral parameter KIAnd a differential parameter KDThe first partial derivative of (a).
When the satellite attitude controller is a PD controller, the corresponding update formula is:
Figure 58224DEST_PATH_IMAGE136
，
Figure 264077DEST_PATH_IMAGE138
，
wherein the content of the first and second substances,
Figure 177675DEST_PATH_IMAGE130
the representation is defined as;
Figure 545203DEST_PATH_IMAGE131
represents the update rate of the satellite attitude controller parameters, 0<
Figure 239358DEST_PATH_IMAGE131
<1；
Figure 983323DEST_PATH_IMAGE140
、
Figure 548166DEST_PATH_IMAGE142
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPAnd a differential parameter KDThe first partial derivative of (a).
And the loop of the objective function value determining module 2 is returned from the controller parameter updating module 3, the satellite attitude controller parameter which enables the objective function to be minimum is further searched in an iterative mode, the optimality of the obtained satellite attitude controller parameter is further ensured, and the robustness, the stability, the control precision and the quick response capability of the satellite attitude are ensured by the optimality.
The device of the embodiment of the invention has the core that the parameters of the satellite attitude controller are optimized in real time, so that the objective function is minimum (the function is a multivariable function related to the parameters of the satellite attitude controller), and the parameters of the satellite attitude controller under the condition make the actual attitude y (t) of the satellite tend to the expected attitude r (t) of the satellite.
The embodiment of the invention also provides a controller, which comprises a memory and a processor, wherein the memory stores a computer program, and the program can realize the steps of the satellite attitude self-adaptive control method when being executed by the processor.
Embodiments of the present invention also provide a computer-readable storage medium for storing a computer program, which when executed by a computer or a processor implements the steps of the satellite attitude adaptive control method.
The embodiment of the invention is suitable for controlling the satellite attitude of low-orbit satellites, high-orbit satellites and the like, does not need to repeatedly carry out test experiments, only needs to acquire the moment borne by one group or a plurality of groups of satellites and the actual attitude of the satellites, and carries out self-adaptive setting of the satellite attitude controller parameters on the satellite-borne computer according to a specific algorithm. Therefore, data transmission between the satellite and the ground station can be avoided, and the quick response capability of the satellite attitude is improved. In addition, the embodiment of the invention takes the collected moment and actual attitude data of the satellite as basic samples, optimizes the objective function by adopting a machine learning algorithm, and updates the parameters of the satellite attitude controller in real time. The dynamic satellite attitude controller parameters can adapt to the change of the satellite attitude model parameters, and the robustness of the control system is improved.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (6)

1. A satellite attitude adaptive control method is characterized by comprising the following steps:
acquiring parameters of a satellite attitude controller at the current moment, moment borne by a satellite and actual attitude of the satellite;
determining a preset objective function value based on a preset virtual reference model, the satellite attitude controller parameters at the current moment, the moment borne by the satellite and the actual attitude of the satellite;
updating the satellite attitude controller parameters based on the objective function values and a preset objective function threshold;
the method further comprises the following steps:
constructing the virtual reference model M(s), wherein the virtual reference model is used for representing the target corresponding relation between the actual attitude of the satellite and the expected attitude of the satellite, and the transfer function of the virtual reference model is as follows:
Figure DEST_PATH_IMAGE001
wherein the content of the first and second substances,
Figure 6986DEST_PATH_IMAGE002
、
Figure 727817DEST_PATH_IMAGE003
and
Figure 814591DEST_PATH_IMAGE004
are all the parameters of the model, and are,
Figure 521647DEST_PATH_IMAGE004
representing a delay parameter, m and n are positive integers,
Figure 275845DEST_PATH_IMAGE005
，
Figure 167578DEST_PATH_IMAGE006
is a natural constant, s is a complex variable;
the satellite attitude controller is a PID controller, and the preset objective function value is determined based on a preset virtual reference model, the satellite attitude controller parameters at the current moment, the moment borne by the satellite and the actual attitude of the satellite, and the method comprises the following steps:
by using
Figure 492380DEST_PATH_IMAGE007
The moment of force borne by the satellite is represented,
Figure 252394DEST_PATH_IMAGE008
which represents the actual attitude of the satellite(s),
Figure 939728DEST_PATH_IMAGE009
which represents the desired attitude of the satellite,
Figure 674466DEST_PATH_IMAGE010
proportional parameters of the satellite attitude controller;
Figure 729972DEST_PATH_IMAGE011
the integral parameter of the satellite attitude controller is obtained;
Figure 778831DEST_PATH_IMAGE012
as a differential parameter of the satellite attitude controller,
the objective function is defined as
Figure 242042DEST_PATH_IMAGE013
：
Figure 741156DEST_PATH_IMAGE014
，
Figure 774971DEST_PATH_IMAGE015
，
Figure 876788DEST_PATH_IMAGE016
，
Figure 273135DEST_PATH_IMAGE017
，
Figure 349675DEST_PATH_IMAGE018
，
Figure 385633DEST_PATH_IMAGE019
，
Wherein the content of the first and second substances,
Figure 307453DEST_PATH_IMAGE020
the number of samples is represented by the number of samples,
Figure 292726DEST_PATH_IMAGE021
a time variable is represented by a time variable,
Figure 55015DEST_PATH_IMAGE022
；
Figure 266684DEST_PATH_IMAGE023
、
Figure 772621DEST_PATH_IMAGE024
、
Figure 550084DEST_PATH_IMAGE025
are intermediate variables, L (∙) denotes the Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents variance;
Figure DEST_PATH_IMAGE027
the transfer function of the satellite attitude controller is obtained by performing Laplace transform on a mathematical expression of a traditional satellite attitude controller in a time domain, s is a complex variable of the transfer function of the satellite attitude controller, and when the satellite attitude controller is a PID (proportion integration differentiation) controller, the PID controller represents a functional relation between attitude deviation e (t) and moment u (t), and the expression mode is as follows:
Figure 713398DEST_PATH_IMAGE028
wherein the content of the first and second substances,
Figure 491867DEST_PATH_IMAGE029
is the integral of the attitude deviation e (t) over time t;
Figure 451733DEST_PATH_IMAGE030
for the first derivative of the attitude deviation e (t) with respect to time t, will
Figure 572136DEST_PATH_IMAGE031
Performing Laplace transform to obtain an expression of a transfer function C(s) corresponding to the PID controller as
Figure 747945DEST_PATH_IMAGE032
；
Alternatively, the first and second electrodes may be,
the satellite attitude controller is a PD controller, and the preset objective function value is determined based on a preset virtual reference model, the satellite attitude controller parameters at the current moment, the moment borne by the satellite and the actual attitude of the satellite, and the method comprises the following steps:
by using
Figure 346417DEST_PATH_IMAGE033
The moment of force borne by the satellite is represented,
Figure 691947DEST_PATH_IMAGE034
which represents the actual attitude of the satellite(s),
Figure 904623DEST_PATH_IMAGE035
representing the desired attitude of the satellite with the satellite attitude controller parameters of
Figure 109339DEST_PATH_IMAGE036
，
Figure 760769DEST_PATH_IMAGE037
Represents a proportional parameter of the satellite attitude controller,
Figure 695227DEST_PATH_IMAGE038
a differential parameter representing the attitude controller of the satellite,
the objective function is defined as
Figure 891853DEST_PATH_IMAGE039
：
Figure 36396DEST_PATH_IMAGE040
，
Figure 976670DEST_PATH_IMAGE041
，
Figure 765634DEST_PATH_IMAGE042
，
Figure 648009DEST_PATH_IMAGE043
，
Figure 30580DEST_PATH_IMAGE044
，
Figure 758233DEST_PATH_IMAGE045
，
Wherein the content of the first and second substances,
Figure 339387DEST_PATH_IMAGE046
the number of samples is represented by the number of samples,
Figure 940133DEST_PATH_IMAGE021
a time variable is represented by a time variable,
Figure 324847DEST_PATH_IMAGE047
；
Figure 606923DEST_PATH_IMAGE048
、
Figure 291851DEST_PATH_IMAGE049
、
Figure 482978DEST_PATH_IMAGE051
are intermediate variables, L (∙) denotes the Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents variance;
Figure 773275DEST_PATH_IMAGE027
the transfer function of the satellite attitude controller is obtained by performing Laplace transform on a mathematical expression of a traditional satellite attitude controller in a time domain, s is a complex variable of the transfer function of the satellite attitude controller, and when the satellite attitude controller is a PD controller, the PD controller represents a functional relation between attitude deviation e (t) and moment u (t), and the expression mode is as follows:
Figure 63442DEST_PATH_IMAGE052
wherein the content of the first and second substances,
Figure 458520DEST_PATH_IMAGE053
for the first derivative of the attitude deviation e (t) with respect to time t, will
Figure 162034DEST_PATH_IMAGE054
Performing Laplace transform to obtain an expression of a transfer function C(s) corresponding to the PD controller as
Figure DEST_PATH_IMAGE055
。
2. The adaptive control method for satellite attitude according to claim 1,
updating the satellite attitude controller parameters based on the objective function values and a preset objective function threshold, comprising:
judging whether the current time is smaller than a preset target function threshold value or not, if so, setting the satellite attitude controller parameter at the current time as a satellite attitude controller parameter, and returning to the step of acquiring the satellite attitude controller parameter, the moment borne by the satellite and the actual attitude of the satellite at the current time;
otherwise, updating the parameters of the satellite attitude controller based on the following formula, and returning to the step of determining the preset objective function value based on the preset virtual reference model, the parameters of the satellite attitude controller at the current moment, the moment borne by the satellite and the actual attitude of the satellite,
when the satellite attitude controller is a PID controller, the corresponding controller parameter updating formula is as follows:
Figure 972864DEST_PATH_IMAGE056
，
Figure 586379DEST_PATH_IMAGE057
Figure 886779DEST_PATH_IMAGE058
，
wherein the content of the first and second substances,
Figure 343168DEST_PATH_IMAGE059
the representation is defined as;
Figure 505159DEST_PATH_IMAGE060
represents the update rate of the satellite attitude controller parameters, 0<
Figure 19186DEST_PATH_IMAGE060
<1；
Figure DEST_PATH_IMAGE061
、
Figure 897012DEST_PATH_IMAGE062
、
Figure 247222DEST_PATH_IMAGE063
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPIntegral parameter KIAnd a differential parameter KDThe first partial derivative of (a);
alternatively, the first and second electrodes may be,
when the satellite attitude controller is a PD controller, the corresponding controller parameter updating formula is as follows:
Figure 540800DEST_PATH_IMAGE064
，
Figure 174913DEST_PATH_IMAGE065
，
wherein the content of the first and second substances,
Figure 505531DEST_PATH_IMAGE059
the representation is defined as;
Figure 857884DEST_PATH_IMAGE060
represents the update rate of the satellite attitude controller parameters, 0<
Figure 361678DEST_PATH_IMAGE060
<1；
Figure 928925DEST_PATH_IMAGE066
、
Figure 747889DEST_PATH_IMAGE067
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPAnd a differential parameter KDThe first partial derivative of (a).
3. A satellite attitude adaptive control apparatus, comprising:
the parameter acquisition module is configured to acquire the parameters of the satellite attitude controller, the moment borne by the satellite and the actual attitude of the satellite at the current moment;
the objective function value determining module is configured to determine a preset objective function value based on a preset virtual reference model, the satellite attitude controller parameter at the current moment, the moment borne by the satellite and the actual attitude of the satellite;
a controller parameter update module configured to update the satellite attitude controller parameter based on the objective function value and a preset objective function threshold;
the apparatus further comprises a virtual reference model building module configured to:
constructing the virtual reference model M(s), wherein the virtual reference model is used for representing the target corresponding relation between the actual attitude of the satellite and the expected attitude of the satellite, and the transfer function of the virtual reference model is as follows:
Figure 275953DEST_PATH_IMAGE068
wherein the content of the first and second substances,
Figure 98284DEST_PATH_IMAGE069
、
Figure 926563DEST_PATH_IMAGE070
and
Figure 989197DEST_PATH_IMAGE071
are all the parameters of the model, and are,
Figure 50563DEST_PATH_IMAGE071
representing a delay parameter, m and n are positive integers,
Figure 365001DEST_PATH_IMAGE072
，
Figure 828212DEST_PATH_IMAGE073
is a natural constant, s is a complex variable;
the satellite attitude controller is a PID controller, and the objective function value determination module is specifically configured to:
by using
Figure 61747DEST_PATH_IMAGE033
The moment of force borne by the satellite is represented,
Figure 95562DEST_PATH_IMAGE034
which represents the actual attitude of the satellite(s),
Figure 259696DEST_PATH_IMAGE035
which represents the desired attitude of the satellite,
Figure 265830DEST_PATH_IMAGE037
proportional parameters of the satellite attitude controller;
Figure 857217DEST_PATH_IMAGE074
the integral parameter of the satellite attitude controller is obtained;
Figure 378328DEST_PATH_IMAGE075
as a differential parameter of the satellite attitude controller,
the objective function is defined as
Figure 893623DEST_PATH_IMAGE076
：
Figure 472372DEST_PATH_IMAGE077
，
Figure 234660DEST_PATH_IMAGE078
，
Figure 570964DEST_PATH_IMAGE079
，
Figure 562053DEST_PATH_IMAGE080
，
Figure 848504DEST_PATH_IMAGE081
，
Figure 470109DEST_PATH_IMAGE082
Wherein the content of the first and second substances,
Figure 215080DEST_PATH_IMAGE046
the number of samples is represented by the number of samples,
Figure 9861DEST_PATH_IMAGE021
a time variable is represented by a time variable,
Figure 969727DEST_PATH_IMAGE047
；
Figure 73818DEST_PATH_IMAGE083
、
Figure 260080DEST_PATH_IMAGE049
、
Figure 107819DEST_PATH_IMAGE084
are intermediate variables, L (∙) denotes the Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents variance;
Figure 947916DEST_PATH_IMAGE027
the transfer function of the satellite attitude controller is obtained by performing Laplace transform on a mathematical expression of a traditional satellite attitude controller in a time domain, s is a complex variable of the transfer function of the satellite attitude controller, and when the satellite attitude controller is a PID (proportion integration differentiation) controller, the PID controller represents a functional relation between attitude deviation e (t) and moment u (t), and the expression mode is as follows:
Figure 667479DEST_PATH_IMAGE085
wherein the content of the first and second substances,
Figure 7325DEST_PATH_IMAGE029
is the integral of the attitude deviation e (t) over time t;
Figure 863154DEST_PATH_IMAGE030
for the first derivative of the attitude deviation e (t) with respect to time t, will
Figure 59780DEST_PATH_IMAGE031
Performing Laplace transform to obtain an expression of a transfer function C(s) corresponding to the PID controller as
Figure 79689DEST_PATH_IMAGE032
；
Alternatively, the first and second electrodes may be,
the satellite attitude controller is a PD controller, and the objective function value determination module is specifically configured to:
by using
Figure 269231DEST_PATH_IMAGE033
The moment of force borne by the satellite is represented,
Figure 199140DEST_PATH_IMAGE034
which represents the actual attitude of the satellite(s),
Figure 815935DEST_PATH_IMAGE035
representing the desired attitude of the satellite with the satellite attitude controller parameters of
Figure 57561DEST_PATH_IMAGE036
，
Figure 801526DEST_PATH_IMAGE037
Represents a proportional parameter of the satellite attitude controller,
Figure 841069DEST_PATH_IMAGE038
a differential parameter representing the attitude controller of the satellite,
the objective function is defined as
Figure 379498DEST_PATH_IMAGE039
：
Figure 373999DEST_PATH_IMAGE040
，
Figure 108606DEST_PATH_IMAGE041
，
Figure 544266DEST_PATH_IMAGE042
，
Figure 502864DEST_PATH_IMAGE043
，
Figure 984661DEST_PATH_IMAGE044
，
Figure 70428DEST_PATH_IMAGE045
，
Wherein the content of the first and second substances,
Figure 813125DEST_PATH_IMAGE046
the number of samples is represented by the number of samples,
Figure 958936DEST_PATH_IMAGE021
a time variable is represented by a time variable,
Figure 583821DEST_PATH_IMAGE047
；
Figure 270017DEST_PATH_IMAGE048
、
Figure 945849DEST_PATH_IMAGE049
、
Figure 46846DEST_PATH_IMAGE051
are intermediate variables, L (∙) denotes the Laplace transform, L-1(∙) representing an inverse laplacian transform; var (∙) represents variance;
Figure 723684DEST_PATH_IMAGE027
the transfer function of the satellite attitude controller is obtained by performing Laplace transform on a mathematical expression of the traditional satellite attitude controller in a time domain, and s is the transfer function of the satellite attitude controllerWhen the satellite attitude controller is a PD controller, the PD controller represents a functional relationship between the attitude deviation e (t) and the moment u (t), and the expression manner is:
Figure 316340DEST_PATH_IMAGE086
wherein the content of the first and second substances,
Figure 538374DEST_PATH_IMAGE053
for the first derivative of the attitude deviation e (t) with respect to time t, will
Figure 403430DEST_PATH_IMAGE054
Performing Laplace transform to obtain an expression of a transfer function C(s) corresponding to the PD controller as
Figure 103533DEST_PATH_IMAGE055
。
4. The satellite attitude adaptive control apparatus according to claim 3, wherein the controller parameter update module is specifically configured to:
judging whether the current time is smaller than a preset target function threshold value or not, if so, setting the satellite attitude controller parameter at the current time as a satellite attitude controller parameter, and returning the satellite attitude controller parameter to the parameter acquisition module;
otherwise, updating the parameters of the satellite attitude controller based on the following formula and returning to the objective function value determining module,
when the satellite attitude controller is a PID controller, the corresponding controller parameter updating formula is as follows:
Figure 692907DEST_PATH_IMAGE056
，
Figure 351421DEST_PATH_IMAGE087
Figure 516823DEST_PATH_IMAGE058
，
wherein the content of the first and second substances,
Figure 269885DEST_PATH_IMAGE059
the representation is defined as;
Figure 509236DEST_PATH_IMAGE060
represents the update rate of the satellite attitude controller parameters, 0<
Figure 322340DEST_PATH_IMAGE060
<1；
Figure 850405DEST_PATH_IMAGE061
、
Figure 407157DEST_PATH_IMAGE062
、
Figure 828911DEST_PATH_IMAGE063
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPIntegral parameter KIAnd a differential parameter KDThe first partial derivative of (a);
alternatively, the first and second electrodes may be,
when the satellite attitude controller is a PD controller, the corresponding controller parameter updating formula is as follows:
Figure 563649DEST_PATH_IMAGE064
，
Figure 625014DEST_PATH_IMAGE065
，
wherein the content of the first and second substances,
Figure 939452DEST_PATH_IMAGE059
the representation is defined as;
Figure 402663DEST_PATH_IMAGE060
represents the update rate of the satellite attitude controller parameters, 0<
Figure 308303DEST_PATH_IMAGE060
<1；
Figure 670014DEST_PATH_IMAGE066
、
Figure 568568DEST_PATH_IMAGE067
Respectively representing the proportional parameters K of the objective function to the satellite attitude controllerPAnd a differential parameter KDThe first partial derivative of (a).
5. A controller comprising a memory and a processor, wherein: the memory stores a computer program enabling to carry out the steps of the method of any one of claims 1 to 2 when executed by the processor.
6. A computer-readable storage medium storing a computer program, characterized in that: the program when executed by a computer or processor implements the steps of the method of any one of claims 1 to 2.
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