CN112498743B - Satellite attitude tracking controller based on feedforward and feedback - Google Patents
Satellite attitude tracking controller based on feedforward and feedback Download PDFInfo
- Publication number
- CN112498743B CN112498743B CN202011147781.9A CN202011147781A CN112498743B CN 112498743 B CN112498743 B CN 112498743B CN 202011147781 A CN202011147781 A CN 202011147781A CN 112498743 B CN112498743 B CN 112498743B
- Authority
- CN
- China
- Prior art keywords
- attitude
- feedforward
- feedback
- satellite
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 206010034719 Personality change Diseases 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 12
- 239000011159 matrix material Substances 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 18
- 230000033228 biological regulation Effects 0.000 abstract description 4
- 238000003384 imaging method Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/242—Orbits and trajectories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/244—Spacecraft control systems
- B64G1/245—Attitude control algorithms for spacecraft attitude control
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a satellite attitude tracking controller based on feedforward and feedback, which is designed according to the change characteristics of an expected attitude, and has the advantages of small attitude tracking error of a satellite and high tracking precision of the satellite on the expected attitude. The satellite attitude tracking controller is based on feedforward and feedback, specifically, a feedforward compensation unit based on an expected attitude track is designed aiming at the state that the expected attitude of a satellite is in a moment change, and a new controller is formed by combining a feedback controller. When the expected attitude trajectory is tracked, the satellite attitude can run according to a preset trajectory by using a lower tracking error, the attitude tracking error and the tracking precision of the satellite are higher under the regulation and control of the design controller, the actual satellite attitude change condition is closer to the preset attitude trajectory, and correspondingly, higher task completion degree can be realized.
Description
Technical Field
The invention belongs to the technical field of spacecraft attitude control, and particularly relates to a satellite attitude tracking controller based on feedforward and feedback.
Background
Agile imaging by using agile satellites is a way to effectively improve the imaging capability of satellites. In various imaging modes, the satellite needs to be controlled to adjust the attitude of the satellite according to a pre-planned path track, so that a carried camera is controlled to scan the corresponding position of the ground according to a preset path. If a plurality of targets are imaged during one-time overhead crossing, a detection sequence is determined according to the position distribution of the multiple targets, a switching route is planned, and then the satellite attitude is controlled to change according to a certain rule, so that the imaging path of the camera is performed as expected, and all the targets are imaged. If large-width scanning imaging is carried out, in order to ensure the image splicing effect and the imaging quality, a satellite attitude change track needs to be designed, and the satellite attitude needs to be controlled to change according to the preset change during actual detection.
The problem of controlling the satellite attitude to move according to the preset change track is different from the traditional satellite attitude control and large-angle attitude maneuver problems, and is called as the satellite attitude tracking problem. In a general attitude control problem, a desired attitude of a satellite is in a fixed state, and the desired attitude when performing attitude tracking changes from moment to moment. When the required attitude trajectory has a complex change rule and a large change amplitude, the change trajectory can seriously affect the effect of the controller, but the existing attitude tracking controller is not designed according to the expected attitude change characteristics, the attitude tracking error of the satellite is high, the tracking precision is poor, and the actual attitude change condition of the satellite cannot be well close to the preset attitude trajectory.
Disclosure of Invention
In view of the above, the invention provides a satellite attitude tracking controller based on feedforward and feedback, which is designed according to the change characteristics of an expected attitude, and the satellite has small attitude tracking error and high tracking accuracy of the satellite on the expected attitude.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the invention relates to a satellite attitude tracking controller based on feedforward and feedback, which comprises a feedforward unit and a feedback unit, wherein the final output T of the controller c Comprises the following steps:
T c ＝T c1 +T c2 +T c3
wherein, T c1 Calculating the resulting desired torque, T, for the feedback unit c2 Calculating a resulting feedforward control moment, T, for the angular acceleration for a feedforward unit c3 Calculating a resulting feedforward control moment for the desired attitude change for the feedforward element;
feedforward control moment T of feedforward unit for angular acceleration c2 Comprises the following steps:
wherein the content of the first and second substances,
the moment of inertia matrix J is a 3 multiplied by 3 square matrix for expecting the attitude angular acceleration and is determined by the self mass distribution of the satellite;
feedforward control moment T of feedforward unit for expected attitude change c3 Comprises the following steps:
T c3 ＝-K p Jq dev
wherein K p The value of the proportional feedback coefficient of the feedforward unit control loop is the same as that of the feedback unit control loop; q. q.s dev Is q de The vector part of (a), q de Is the quaternion difference of the desired pose.
Wherein q is de The expected attitude set by the control system at present is obtained by subtracting the expected attitude set by the next loop.
And the feedback unit adopts PID control.
Wherein, T c1 ＝-K p Jq ev -K d Jω+ω × Jω；
The first two terms are conventional proportional-differential units, and the latter term is a nonlinear compensation term between a satellite rotational inertia matrix and angular velocity;
K p ，K d proportional and differential unit parameters of the PID controller are respectively;
q e and the quaternion of the current attitude error, omega, is the current angular velocity of the satellite.
Wherein the feedback unit is controlled by a sliding film.
Wherein the feedback unit adopts adaptive control.
Has the beneficial effects that:
the satellite attitude tracking controller is based on feedforward and feedback, particularly designs a feedforward compensation unit based on an expected attitude track aiming at the state that the expected attitude of a satellite is in a moment change, and combines a feedback controller to form a new controller. When the expected attitude trajectory is tracked, the satellite attitude can run according to a preset trajectory by using a lower tracking error, the attitude tracking error and the tracking precision of the satellite are higher under the regulation and control of the design controller, the actual satellite attitude change condition is closer to the preset attitude trajectory, and correspondingly, higher task completion degree can be realized.
Drawings
Fig. 1 is a flow chart of the controller of the present invention applied to the satellite attitude tracking control.
Fig. 2 is a schematic diagram of a controller structure according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1:
in the embodiment, the deviation between the satellite expected trajectory and the current attitude is regarded as system interference, compensation is performed before the stabilization controller, a feedforward controller is formed, so that the influence of the expected attitude change on the control performance is reduced, and system compensation is performed from two aspects of feedback and feedforward, specifically as follows:
in the feedback aspect, a PID controller with wide application and stable performance is used for regulation and control;
in the aspect of feedforward, the angular acceleration of the expected attitude is considered to be caused by external moment disturbance, so that the angular acceleration is compensated according to the predictable moment disturbance; and secondly, taking the difference between the expected attitude at the current moment and the expected attitude at the next moment as the measurement error of the satellite, and performing feedforward compensation according to a measurement error compensation mode, thereby converting the tracking problem of the changed attitude angle into the control problem of the fixed expected attitude.
The controller of the embodiment is applied to a satellite attitude tracking control flow chart as shown in fig. 1, on one hand, a satellite receives expected attitude track information sent out from the ground, and the expected attitude track information is transmitted to a designed attitude controller through a satellite computer; on the other hand, the attitude sensor transmits the current attitude information to the controller, the controller calculates an expected torque value according to the expected attitude track and the current attitude information and transmits the expected torque value to the attitude executing mechanism to make a corresponding response, the attitude executing mechanism outputs torque to act on the satellite to change the attitude of the satellite, and meanwhile, the attitude sensor calculates the current attitude and transmits the current attitude to the attitude controller to complete a closed-loop control cycle.
The schematic diagram of the controller structure of this embodiment is shown in fig. 2, and includes two control units: a feedforward unit and a feedback unit. Wherein the expected torque calculated by the feedback unit is T c1 The expected torque calculated by the feedforward unit is T c2 And T c3 The final controller output is the sum of these three moments.
Specifically, the feedback unit adopts PID control, and the principle is as follows:
T c1 ＝-K p Jq ev -K d Jω+ω × Jω
the first two terms in the equation are conventional proportional-derivative units, and the latter term is a nonlinear compensation term between the satellite moment of inertia matrix and the angular velocity. K p ，K d Proportional and differential unit parameters of the PID controller; the rotational inertia matrix J is a 3 multiplied by 3 square matrix and is determined by the mass distribution of the satellite; q. q.s e And the quaternion of the current attitude error, omega, is the current angular velocity of the satellite.
The feedforward unit mainly performs feedforward aiming at the change of the angular acceleration value and the change of the expected attitude angle value. Since the relationship between the angular acceleration and the disturbance torque is proportional, the feedforward control torque of the feedforward unit for the angular acceleration is
Wherein ω is d In order to be the desired angular velocity of the satellite,
i.e., the desired attitude angular acceleration, both of which can be calculated from the desired attitude trajectory.
From the perspective of the expected attitude change, the difference between the attitude tracking of the changed track and the tracking of the fixed expected attitude is that, in the tracking of the changed track, the change of the expected attitude brings about the change of the state of the tracking control target, and the change increases the tracking error of the system, so that the change needs to be compensated proportionally according to the parameters of the feedback unit. The feedforward control moment of the feedforward unit for the desired attitude change is:
T c3 ＝-K p Jq dev
wherein K p Namely, the proportional feedback coefficient in the PID controller, and the value is the same as that in the PID feedback unit. q. q.s de The quaternion difference value of the expected attitude, namely the influence of the expected attitude change during the regulation and control of the controller, is obtained by the difference between the expected attitude currently set by the control system and the expected attitude set by the next loop, q dev As part of its vector.
In summary, the feedforward-feedback controller of the present embodiment is:
the satellite attitude PID control is asymptotically stable, and the feedforward control does not affect the system stability, so the feedforward-feedback controller of the present embodiment is asymptotically stable.
Example 2:
the PID controller in the embodiment 1 is replaced by a slip film controller, the principle part is correspondingly replaced by the principle of the slip film controller, and the other parts are the same as the embodiment 1.
Example 3:
the PID controller in embodiment 1 is replaced with an adaptive controller, the principle part is correspondingly replaced with the adaptive controller principle, and the other parts are the same as embodiment 1.
In summary, the above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present embodiment shall be included in the protection scope of the present embodiment.
Claims (6)
1. A satellite attitude tracking controller based on feedforward and feedback is characterized in thatComprising a feed-forward unit and a feedback unit, the final output T of the controller c Comprises the following steps:
T c ＝T c1 +T c2 +T c3
wherein, T c1 Calculating the resulting desired torque, T, for the feedback unit c2 Calculating a resulting feedforward control moment, T, for the angular acceleration for a feedforward unit c3 Calculating a resulting feedforward control moment for the desired attitude change for the feedforward element;
feedforward control moment T of feedforward unit for angular acceleration c2 Comprises the following steps:
wherein the content of the first and second substances,
the moment of inertia matrix J is a 3 multiplied by 3 square matrix for expecting the attitude angular acceleration and is determined by the self mass distribution of the satellite;
feedforward control moment T of feedforward unit for expected attitude change c3 Comprises the following steps:
T c3 ＝-K p Jq dev
wherein K p The value of the proportional feedback coefficient of the feedforward unit control loop is the same as that of the feedback unit control loop; q. q.s dev Is q is de The vector part of (a), q de Is the quaternion difference of the desired pose.
2. A feedforward and feedback-based satellite attitude tracking controller according to claim 1, wherein q is de The attitude difference is obtained by the difference between the expected attitude currently set by the control system and the expected attitude set by the next loop.
3. A feedforward and feedback-based satellite attitude tracking controller according to claim 1, wherein the feedback unit employs PID control.
4. The feedforward and feedback-based satellite attitude tracking controller of claim 3, wherein T c1 ＝-K p Jq ev -K d Jω+ω × Jω；
The first two terms in the formula are conventional proportional-differential units, and the latter term is a nonlinear compensation term between a satellite rotational inertia matrix and an angular velocity;
K p ，K d proportional and differential unit parameters of a PID controller are respectively;
q e and the quaternion of the current attitude error, omega, is the current angular velocity of the satellite.
5. A feedforward and feedback-based satellite attitude tracking controller according to claim 1, wherein the feedback unit employs synovial control.
6. A feedforward and feedback-based satellite attitude tracking controller in accordance with claim 1, wherein the feedback unit employs adaptive control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011147781.9A CN112498743B (en) | 2020-10-23 | 2020-10-23 | Satellite attitude tracking controller based on feedforward and feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011147781.9A CN112498743B (en) | 2020-10-23 | 2020-10-23 | Satellite attitude tracking controller based on feedforward and feedback |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112498743A CN112498743A (en) | 2021-03-16 |
| CN112498743B true CN112498743B (en) | 2022-12-02 |
Family
ID=74954935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011147781.9A Active CN112498743B (en) | 2020-10-23 | 2020-10-23 | Satellite attitude tracking controller based on feedforward and feedback |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112498743B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113212803B (en) * | 2021-04-30 | 2022-12-27 | 北京控制工程研究所 | Combined attitude maneuver method considering dynamic tracking and fixed-point imaging tasks |
| CN115764303B (en) * | 2022-12-05 | 2024-02-20 | 迪泰（浙江）通信技术有限公司 | Double-inertial navigation satellite mobile terminal antenna two-axis stable three-axis dynamic tracking method |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4679439B2 (en) * | 2006-06-05 | 2011-04-27 | 三菱電機株式会社 | Satellite attitude control device |
| EP2671804B1 (en) * | 2012-06-07 | 2014-04-30 | Astrium Limited | Space object capture |
| CN104960674B (en) * | 2015-06-01 | 2017-03-08 | 北京控制工程研究所 | A kind of sensing tracking and controlling method of moving target |
| CN109018441A (en) * | 2018-09-13 | 2018-12-18 | 上海航天控制技术研究所 | A kind of satellite any attitude mobile process drift angle tracking and controlling method |
| CN110174899B (en) * | 2019-04-12 | 2021-12-07 | 北京控制工程研究所 | High-precision imaging attitude pointing control method based on agile satellite |
-
2020
- 2020-10-23 CN CN202011147781.9A patent/CN112498743B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112498743A (en) | 2021-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112498743B (en) | Satellite attitude tracking controller based on feedforward and feedback | |
| CN101872198B (en) | Vehicle-mounted pick-up stable platform | |
| Fu et al. | Finite-time trajectory tracking control for a 12-rotor unmanned aerial vehicle with input saturation | |
| CN110174899A (en) | A kind of high-precision imaging posture direction control method based on quick satellite | |
| CN115649491B (en) | Low orbit optical remote sensing satellite staring imaging control method suitable for multi-source interference | |
| He et al. | Three-dimensional multivariable integrated guidance and control design for maneuvering targets interception | |
| WO2020220469A1 (en) | Visual measurement time lag compensation method for photoelectric tracking system | |
| Ji et al. | Time-varying sliding mode guidance scheme for maneuvering target interception with impact angle constraint | |
| CN113126644B (en) | Unmanned aerial vehicle three-dimensional track tracking method based on adaptive line-of-sight method | |
| CN110361829A (en) | A kind of telescope Pointing Calibration method and telescope | |
| CN110658854B (en) | Photoelectric turret video tracking feedforward compensation method based on combined inertial navigation information application | |
| Geng et al. | Fixed-time near-optimal control for repointing maneuvers of a spacecraft with nonlinear terminal constraints | |
| Lian et al. | Staring imaging attitude control of small satellites | |
| CN109782810A (en) | Video satellite motion target tracking imaging method and its device based on image guidance | |
| Sharma et al. | Control of a quadrotor with network induced time delay | |
| CN111605737A (en) | Spacecraft three-phase control multi-level collaborative planning and agile maneuvering method | |
| Mousavi et al. | Robust adaptive fractional-order nonsingular terminal sliding mode stabilization of three-axis gimbal platforms | |
| CN108427429B (en) | Spacecraft visual axis maneuvering control method considering dynamic pointing constraint | |
| Maurya et al. | Components & Control Scheme used for Line of Sight Stabilization in Defence Applications | |
| She et al. | Quasi-model free control for the post-capture operation of a non-cooperative target | |
| Chao et al. | Three-dimensional low-order finite-time integrated guidance and control design with side-window constraint | |
| Yu et al. | Omnidirectional autonomous entry guidance based on 3-D analytical glide formulas | |
| CN109445448B (en) | Self-adaptive integral sliding-mode attitude controller for wheel-controlled minisatellite | |
| CN115657480A (en) | Optimal sliding mode guidance law construction method based on observer compensation | |
| Gutierrez et al. | Line-of-sight stabilization and back scanning using a fast steering mirror and blended rate sensors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |