CN113625742A - A Spacecraft Attitude Tracking Control Algorithm - Google Patents

A Spacecraft Attitude Tracking Control Algorithm Download PDF

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CN113625742A
CN113625742A CN202111055583.4A CN202111055583A CN113625742A CN 113625742 A CN113625742 A CN 113625742A CN 202111055583 A CN202111055583 A CN 202111055583A CN 113625742 A CN113625742 A CN 113625742A
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spacecraft
spacecraft attitude
control
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tracking
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王睿
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Harbin University of Science and Technology
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Harbin University of Science and Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

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Abstract

本发明公开了一种航天器姿态跟踪控制算法，属于航天领域，为了解决航天器姿态控制器的执行器的输入饱和以及姿态输出约束问题，本发明提供一种航天器姿态跟踪控制算法，基于反步法，采用基于旋转矩阵的航天器姿态运动学以及动力学模型，设计出虚拟控制率，进一步，基于虚拟控制率设计有限时间控制律，采用时间最优设计理念，设计一种过渡过程来平滑输入信号，使系统在跟踪输入信号的整个过程中都保持一个较小的误差，从而避免输入饱和现象的产生，通过在利用反步法设计航天器姿态跟踪控制器的过程中，使用障碍李雅普诺夫函数，保证航天器姿态子系统的跟踪性能和约束要求，对航天器姿态控制研究具有重要意义。The invention discloses a spacecraft attitude tracking control algorithm, which belongs to the field of aerospace. In order to solve the problems of input saturation and attitude output constraints of the actuator of the spacecraft attitude controller, the invention provides a spacecraft attitude tracking control algorithm, which is based on reverse Step method, using the spacecraft attitude kinematics and dynamics model based on the rotation matrix, to design a virtual control rate, further, based on the virtual control rate to design a finite time control law, using the time optimal design concept, design a transition process to smooth input signal, so that the system can keep a small error in the whole process of tracking the input signal, so as to avoid the occurrence of input saturation, by using the obstacle Lyapuno in the process of designing the spacecraft attitude tracking controller by using the backstepping method To ensure the tracking performance and constraint requirements of the spacecraft attitude subsystem, it is of great significance to the research of spacecraft attitude control.

Description

Spacecraft attitude tracking control algorithm
Technical Field
The invention belongs to the field of spaceflight, and particularly relates to the input saturation and output constraint problems of spacecraft postures.
Background
With the advance of science and technology, a spacecraft is used in various military and civil activities, the attitude motion of the spacecraft refers to the motion relative to the self mass center, the attitude control is a precondition for the spacecraft to complete various tasks, in the design of an actual controller, the nonlinear characteristic of an actuator also needs to be considered, namely, the problem of saturation is input, in the actual spacecraft, the actuator cannot output infinite moment, if the problem is not considered by the controller, the actuator can be always kept in a saturated state, the performance degradation and even the failure of the actuator can be caused, finally, the system instability and even the failure of the task can be caused, along with the improvement of the refinement degree of the space mission, the transient performance of the spacecraft also needs to be considered in the design of the controller, the transient performance comprises the size of overshoot and the preset convergence speed, in the operation process of the space system, if the attitude change overshoot is too large, not only more fuel is consumed, but also the system stability is possibly affected, so the spacecraft attitude controller is designed to take the output constraint and input saturation into consideration.
Disclosure of Invention
The invention aims to provide a control scheme aiming at the problems of actuator saturation and attitude constraint in the attitude control process of a spacecraft.
In order to achieve the purpose, the invention provides the following technical scheme:
a spacecraft attitude tracking control algorithm is based on a back stepping method, virtual variables are introduced into a spacecraft attitude error dynamics submodel, a virtual control rate is designed, further, a finite time control law is designed based on the virtual control rate, the stability of a finite time controller is proved, a time optimal design concept is adopted, a transition process is designed to smooth input signals, a jump step signal is changed into a slowly rising signal, a system keeps a small error in the whole process of tracking the input signals, the generation of input saturation is avoided, and the obstacle Lyapunov function is used in the process of designing the spacecraft attitude tracking controller by the back stepping method, so that the tracking performance and the constraint requirement of a spacecraft attitude subsystem are guaranteed.
Preferred as the present invention: the input anti-saturation processing adopts a time optimal design method, and a jumping step signal can be changed into a slowly rising signal, so that the generation of an input saturation phenomenon is avoided.
Preferred as the present invention: the spacecraft carries out attitude constraint control, and the constraint control of the state quantity is realized through an obstacle Lyapunov function.
Compared with the prior art, the invention has the beneficial effects that: compared with other spacecraft attitude tracking algorithms, the spacecraft attitude tracking control algorithm takes the input saturation problem and the attitude constraint problem into consideration and provides an improved scheme.
The specific implementation mode is as follows:
the following detailed description of the embodiments of the present invention is provided, and it is obvious that the embodiments described are only a part of the present invention, and not all of the embodiments, and those skilled in the art can obtain the embodiments of the present invention without creative efforts, and all of them are within the protection scope of the present invention.
In the embodiment of the invention: a spacecraft attitude tracking control algorithm is based on a backstepping method, a spacecraft attitude controller is designed by utilizing a barrier Lyapunov function, the state constraint of a spacecraft attitude angle can be guaranteed, and a step control input instruction is processed into a relatively smooth input signal by adopting a time optimal design concept, so that a system keeps a small error in the whole process of tracking the input signal.
1. Spacecraft attitude control model
The method for representing the attitude control model of the spacecraft comprises an Euler angle, a quaternion, a rotation matrix, a modified Rodrigue parameter and the like, the description mode of the rotation matrix is compared with the description mode of the Euler angle, so that the occurrence of a singular problem can be avoided, and the attitude kinematics and dynamics model of the spacecraft based on the rotation matrix is as follows:
Figure BDA0003254489810000021
Figure BDA0003254489810000022
in the formula: rcE, S0(3) represents a rotation matrix of the spacecraft attitude from a body coordinate system to an inertia coordinate system; omegac∈R3 ×1Representing the attitude angular velocity of the spacecraft in a body coordinate system; j. the design is a squarec∈R3×3Is a rotational inertia matrix of the spacecraft; u is an element of R3×1And d ∈ R3×1Respectively representing the control moment and the disturbance moment of the spacecraft under a body coordinate system.
ReAnd ωeRespectively, an attitude error and an angular velocity error, defined as
Figure BDA0003254489810000023
And
Figure BDA0003254489810000024
wherein R istAnd ωtRespectively desired attitude and desired angular velocity.
Attitude error ReIs a matrix, is difficult to be applied to the design of a controller, and adopts a posture error representation form of a structure
Figure BDA0003254489810000025
In the formula: tr (R)e) Represents Re"V" represents the inverse of the cross product: SO (3) → R3×1。
According to the limit
Figure BDA0003254489810000026
The available spacecraft attitude control model is
Figure BDA0003254489810000027
Figure BDA0003254489810000028
Figure BDA0003254489810000029
Figure BDA00032544898100000210
2. Design of controller
Considering that the output omega of a spacecraft system is constrained, a first-order low-pass filter is introduced to realize dynamic surface control by using the thought of designing virtual control quantity layer by using backstepping control, and BLF is introduced to process the output constraint problem, so that a spacecraft rendezvous and docking attitude tracking control algorithm is provided, and the design steps are as follows:
step1 defines the actual attitude error e and the expectationAttitude error edHas a dynamic surface error of x1I.e. by
x1＝e-ed
Get edX is 01E. The error dynamic equation is
Figure BDA00032544898100000211
Choosing a logarithmic BLF function:
Figure BDA00032544898100000212
wherein k isb1Is to the state quantity x1The constraint parameter of (2).
The derivation is carried out on the above formula
Figure BDA00032544898100000213
Fetch stabilization function
Figure BDA0003254489810000031
Figure BDA0003254489810000032
In the formula: sig (x)1，i)γ＝sign(x1，i)|x1，i|γ，i＝1，2，3，r1＝(2-γ)ηγ-1，r2＝(γ-1)ηγ-20 < gamma < 1, eta is a very small positive number, beta1＞0，β2＞0。
Easy to verify: when ω istAnd
Figure BDA0003254489810000033
in hundreds of bounds, using a virtual controller
Figure BDA0003254489810000034
Can make convergence to the region | x in a limited time1，i|≤η。
Step2 pair
Figure BDA0003254489810000035
Filtering is carried out, with
Figure BDA0003254489810000036
Where τ > 0, is the sampling time.
Introduction of
Figure BDA0003254489810000037
Selecting a second BLF function:
Figure BDA0003254489810000038
wherein k isb2Is to the state quantity x2The constraint parameter of (2).
The derivation is carried out on the above formula
Figure BDA0003254489810000039
Derived along the system trajectory
Figure BDA00032544898100000310
Is convenient to use
Figure BDA00032544898100000311
And obtaining an experimental result through a simulation test by using a designed controller.
The technical solutions and advantages of the present invention have been clearly described above, and it is obvious for those skilled in the art that the present invention is not limited by the above embodiments, and the above described embodiments and descriptions are only technical solutions and principles of the present invention and do not represent all of them, and the invention is implemented by performing corresponding algorithm modifications without departing from the spirit and content of the present invention, and within the scope of the claims of the present invention, the experimental results of the present invention are implemented in a specific form, and the scope of the present invention is defined by the appended claims and the equivalent.

Claims (3)

1.一种航天器姿态跟踪控制算法，对交会对接的航天器采用级联控制设计方法，将这个复杂系统转化为两个简单子系统，基于反步法，通过在子系统中引入误差变量设计虚拟控制保证子系统的稳定性，引入有限时间控制方法，为控制系统提供良好的抗扰动性能和鲁棒性，同时能够实现整个系统的全局有限时间稳定性。1. A spacecraft attitude tracking control algorithm, which adopts the cascade control design method for the rendezvous and docking spacecraft, and converts this complex system into two simple subsystems. Based on the backstepping method, the design is designed by introducing error variables into the subsystems. The virtual control ensures the stability of the subsystem, and the finite-time control method is introduced to provide the control system with good anti-disturbance performance and robustness, and at the same time, it can realize the global finite-time stability of the entire system. 2.根据权利要求1所述一种航天器姿态跟踪控制算法,其特征在于，控制输入采用时间最优设计理念，设计一种过渡过程来平滑输入信号，通过使跳变的阶跃信号变为一个缓慢上升的信号，使系统在跟踪输入信号的整个过程中都保持一个较小的误差，可以避免输入饱和现象的产生。2. a kind of spacecraft attitude tracking control algorithm according to claim 1, is characterized in that, control input adopts time optimal design concept, design a kind of transition process to smooth input signal, by making the step signal of jumping change into. A slowly rising signal makes the system keep a small error in the whole process of tracking the input signal, which can avoid the occurrence of input saturation. 3.根据权利要求1所述一种航天器姿态跟踪控制算法,其特征在于，航天器在姿态跟踪过程中，利用障碍李雅普诺夫函数，实现对航天器姿态系统的控制约束。3. A spacecraft attitude tracking control algorithm according to claim 1, characterized in that, in the attitude tracking process of the spacecraft, the obstacle Lyapunov function is used to realize the control constraints on the spacecraft attitude system.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114329943A (en) * 2021-12-23 2022-04-12 哈尔滨工业大学（深圳） Control performance boundary design method, device and medium based on attitude rotation matrix
CN115390574A (en) * 2022-05-06 2022-11-25 莆田学院 Quadrotor drone attitude tracking control method, device, equipment and storage medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108646556A (en) * 2018-05-08 2018-10-12 中国人民解放军战略支援部队航天工程大学 Input saturation spacecraft is without unwinding Attitude tracking control method
GB201910669D0 (en) * 2018-07-25 2019-09-11 Univ Northwestern Polytechnical Method for controlling relative attitude of spacecrafts having multi-source disturbances and actuator saturation
CN111562793A (en) * 2020-04-08 2020-08-21 中南大学 Spacecraft Attitude Control Method Considering Mission Time Constraints

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108646556A (en) * 2018-05-08 2018-10-12 中国人民解放军战略支援部队航天工程大学 Input saturation spacecraft is without unwinding Attitude tracking control method
GB201910669D0 (en) * 2018-07-25 2019-09-11 Univ Northwestern Polytechnical Method for controlling relative attitude of spacecrafts having multi-source disturbances and actuator saturation
CN111562793A (en) * 2020-04-08 2020-08-21 中南大学 Spacecraft Attitude Control Method Considering Mission Time Constraints

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114329943A (en) * 2021-12-23 2022-04-12 哈尔滨工业大学（深圳） Control performance boundary design method, device and medium based on attitude rotation matrix
CN115390574A (en) * 2022-05-06 2022-11-25 莆田学院 Quadrotor drone attitude tracking control method, device, equipment and storage medium

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Application publication date: 20211109