CN115402538B - Flexible spacecraft attitude maneuver control method based on interference observer - Google Patents
Flexible spacecraft attitude maneuver control method based on interference observer Download PDFInfo
- Publication number
- CN115402538B CN115402538B CN202211205694.3A CN202211205694A CN115402538B CN 115402538 B CN115402538 B CN 115402538B CN 202211205694 A CN202211205694 A CN 202211205694A CN 115402538 B CN115402538 B CN 115402538B
- Authority
- CN
- China
- Prior art keywords
- spacecraft
- observer
- flexible
- interference
- matrix
- 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
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000010187 selection method Methods 0.000 claims abstract description 5
- 239000011159 matrix material Substances 0.000 claims description 27
- 239000013598 vector Substances 0.000 claims description 14
- 238000013016 damping Methods 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 claims description 2
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
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
- B64G1/244—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)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A flexible spacecraft attitude maneuver control method based on an interference observer relates to the field of aerospace control systems and solves the problem of control performance reduction caused by vibration of a flexible accessory and external interference when the existing spacecraft is in-orbit attitude maneuver. According to the kinematics, dynamics and vibration equation of the flexible spacecraft, the invention establishes a second-order quasi-linear system model of the spacecraft of the flexible spacecraft attitude control system by utilizing Lagrange mechanics, provides a nonlinear disturbance observer for estimating external disturbance, and provides a condition of existence of the disturbance observer and an observer parameter selection method. A controller with two parts of state feedback and feedforward compensation is designed by using a parameterization method. The invention meets the control requirement of the flexible spacecraft and effectively improves the control precision of the spacecraft.
Description
Technical Field
The invention relates to the field of aerospace control systems, in particular to a flexible spacecraft attitude maneuver parameterization control method based on an interference observer.
Background
In recent years, spacecraft attitude control systems have been widely adopted as a key to performing many tasks as space technology evolves. With the complexity of tasks, the requirements on the attitude precision control of the spacecraft are higher and higher. However, to reduce launch costs and increase the on-orbit lifetime of spacecraft, spacecraft are commonly provided with flexible structures such as large solar sailboards, large antennas, and the like. Because the rigid body and the flexible component of the spacecraft are highly coupled, the flexible accessory is easy to vibrate in the attitude maneuver process of the spacecraft, and the stability of the spacecraft body is seriously affected. And disturbance of the external environment acts on these damping structures to cause vibrations, thereby reducing the attitude control accuracy. And as spacecraft performs tasks are complicated and diverse. The spacecraft is required to have the characteristics of high agility, high flying speed, high maneuverability and the like, and the dynamics characteristics of the spacecraft are shown as multivariable coupling, strong nonlinearity and rapid time variation.
Although the existing robust control technology can suppress interference, the control accuracy is greatly reduced because the interference is not completely compensated. Thus, how to obtain a high control accuracy, fast maneuverability and robust attitude control system under such harsh conditions has been a challenging problem. The flexible satellite attitude control based on the interference observer can effectively utilize useful information obtained by the observer, compensates external interference through the feedforward controller, and then calms through the feedback controller.
The control method based on the interference observer has the advantages that the interference observer can be designed to acquire external interference information which is difficult to measure during actual on-orbit service of the spacecraft, and compensation is carried out through the controller, so that the control precision of the spacecraft is improved. Therefore, the design of a novel control method based on the interference observer has important significance.
Disclosure of Invention
The invention aims to solve the problems of control performance reduction and the like caused by flexible accessory vibration, external interference and the like in the flexible satellite attitude maneuver process. A flexible spacecraft attitude maneuver control method based on an interference observer is provided.
A flexible spacecraft attitude maneuver control method based on an interference observer, comprising the following steps:
Firstly, establishing a second-order quasi-linear system model of a spacecraft of a gesture control system spacecraft of a flexible spacecraft by using Lagrange mechanics;
Step two, designing an interference observer according to the second-order spacecraft quasi-linear system model established in the step one, obtaining sufficient conditions existing in the observer based on an interference observer error dynamic system, and further obtaining lumped interference quantity information of a mode and interference combination;
Step three, designing a feedforward-feedback controller by using the interference information obtained by the interference observer and the second-order spacecraft system model established in the step one; the controller complete parameterization form containing the free parameters is obtained through the solution of a generalized Sylvester equation, and the method is as follows:
u＝uc+uf
Where u f is used to compensate for the lumped disturbance variable d *,uc in the system model as proportional-differential state feedback term, K 0 (x) and K 1 (x) are feedback gain matrices in the feedforward-feedback controller to be designed, v is the external input, B (v) is a matrix coefficient for the estimated value of the observer.
The invention has the beneficial effects that:
the invention builds the model v by utilizing Lagrange mechanics, The described second-order flexible spacecraft quasi-linear system ensures the nonlinear characteristic of the kinetic equation. The external interference can be estimated by designing the interference observer, so that the selection method of the sufficient conditions and observer parameters existing in the interference observer is further provided, and the error system of the observer is ensured to converge at the expected speed; and finally, designing a controller based on the estimated information of the observer, and giving out a controller containing free parameters and a complete parameterized form of the observer through the solution of a generalized Sylvester equation. The flexible spacecraft attitude maneuver parameterization control method based on the interference observer effectively realizes the attitude high-precision control and suppresses the environmental interference and the flexible vibration.
Compared with the traditional interference observer, the interference observer provided by the invention has the advantages of lower dimension, small calculated amount and convenience in application, and the lumped interference of the system can be effectively reconstructed.
Drawings
FIG. 1 is a schematic block diagram of a novel disturbance observer-based flexible spacecraft attitude maneuver parameterization control method according to the present invention;
FIG. 2 is a diagram of the observation effect of the disturbance observer during roll axis maneuver;
FIG. 3 is a response chart of attitude angle for roll axis maneuvers;
FIG. 4 is a graph of the response of angular velocity of the roll shaft during maneuvers;
FIG. 5 is a diagram of the observation effect of the disturbance observer during triaxial maneuver;
FIG. 6 is a response plot of attitude angle for a three-axis maneuver;
fig. 7 is a response chart of angular velocity at three axis maneuver.
Detailed Description
The present embodiment will be described with reference to fig. 1 to 7, which is a flexible spacecraft attitude maneuver parameterization control method based on an interference observer, the method being implemented by the steps of:
Step one: and a second-order spacecraft quasi-linear system model of the attitude control system of the flexible spacecraft is established by utilizing Lagrange mechanics. Guaranteeing the nonlinearity and coupling characteristic of the model; the flexible spacecraft dynamics equation is:
Wherein the method comprises the steps of Is the angular velocity vector of the spacecraft,In order to control the moment vector of force,Disturbance moment vectors constructed for ambient disturbance and unmodeled dynamics.Representing a positive definite inertial matrix of the spacecraft,Representing the ith solar panel modal displacement vector of the flexible portion,Is the coupling matrix of the ith rigid body dynamics and flexible attachment,Is the damping matrix of the ith flexible attachment,Is the damping ratio matrix of the ith flexible accessory;
Definition of the definition Euler angles for a spacecraft include roll angle, pitch angle, and yaw angle. The kinematic equation using X-Y-Z Euler rotations can be expressed as
The equation can be described as follows
Simultaneous equations and obtaining the following fully driven second order pseudo-linear system
In the method, in the process of the invention,
A2(v)＝FTJmF,B(v)＝FT,
Where J represents the positive definite inertial matrix of the spacecraft,Is the derivative of matrix G (v), f=g -1,Jm is the intermediate variable matrix, C i is the damping matrix of the i-th flexible appendage, and K i is the damping ratio matrix of the i-th flexible appendage.
Step two: according to the second-order spacecraft quasi-linear system model established in the first step, an interference observer is designed, a sufficient condition existing in the observer is obtained based on an interference observer error dynamic system, and a selection method of observer parameters is provided, so that lumped interference information formed by combining modes and interference is obtained, and the interference observer is as follows:
where z is the state vector of the interfering observer, Is an estimate of the interference d *,AndIs the observer function vector to be designed. Obtaining the existence condition of the interference observer in the second step according to the error system:
and the following disturbance observer error system
Is asymptotically stable.
Interference observer function vectorAndThe selection method of (2) is as follows:
Wherein the method comprises the steps of
And mu satisfies
Wherein the method comprises the steps ofRepresenting the maximum value of the euler angular velocity, J pj (p=1, 2,3, j=1, 2, 3) represents a matrix constant related to the moment of inertia, τ j (j=1, 2, 3) being a desirable positive number.
Thirdly, designing a feedforward-feedback controller by using the useful information obtained by the interference observer and utilizing the second-order spacecraft system model established in the first step; the controller complete parameterization form containing free parameters is given by the solution of a generalized Sylvester equation, and is specifically as follows:
Where u f is the proportional differential state feedback term used to compensate for lumped disturbance d *,uc in the system model, K 0 (x) and K 1 (x) are the feedback gain matrices to be designed, v is the external input, Is the observer's estimate and B (v) is the matrix coefficient.
The state feedback gain matrix is in the form of an analytical solution:
Wherein the method comprises the steps of
Wc(x,Z,Λ)＝B-1(x)(A2(x)ZΛ2+A1(x)ZΛ) (11)
Wherein Λ is an arbitrarily selected matrix, Z is an arbitrarily selected parameter matrix, satisfying the following constraints
The method of the embodiment can be obtained through an interference observer, lumped interference during spacecraft attitude maneuver is achieved, and the influence of external interference on the spacecraft attitude maneuver is well compensated through a feedforward controller.
A second embodiment is described with reference to fig. 1 to 7, where the present embodiment is an example of the flexible spacecraft attitude maneuver parameterization control method based on the disturbance observer according to the first embodiment: the flexible spacecraft attitude maneuver parameterization control method based on the disturbance observer, which is designed by the embodiment, is applied to the vibration suppression control of a certain agile flexible spacecraft, and the agile spacecraft condition is considered, and the parameters of the spacecraft are as follows:
δ＝[0.00041 3.833 0]kg1/2·m/s2
The first order vibration frequency of the flexible attachment is assumed to be 2.23Hz, the damping is assumed to be 0.032, the moment of inertia of the satellite in the design of the disturbance observer-based controller is set to diag {104,106,147}, and the time-varying disturbance is considered as follows
A control system block diagram is shown in fig. 1. Designing an observer-based controller according to the above steps first simulates a roll maneuver to obtain a disturbance observer tracking effect map and a response map of attitude angle and angular rate as shown in fig. 2-4. Further simulations were performed for triaxial maneuvers to obtain disturbance observer tracking effect graphs and attitude angle and angular rate response graphs as shown in fig. 5-7.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (6)
1. The flexible spacecraft attitude maneuver control method based on the interference observer is characterized by comprising the following steps of: the method is realized by the following steps:
Firstly, establishing a second-order quasi-linear system model of a spacecraft of a gesture control system spacecraft of a flexible spacecraft by using Lagrange mechanics;
Step two, designing an interference observer according to the second-order spacecraft quasi-linear system model established in the step one, obtaining sufficient conditions existing in the observer based on an interference observer error dynamic system, and further obtaining lumped interference quantity information of a mode and interference combination;
Step three, designing a feedforward-feedback controller by using the interference information obtained by the interference observer and the second-order spacecraft system model established in the step one; the controller complete parameterization form containing the free parameters is obtained through the solution of a generalized Sylvester equation, and the method is as follows:
u＝uc+uf
Where u f is used to compensate for the lumped disturbance variable d *,uc in the system model as proportional-differential state feedback term, K 0 (x) and K 1 (x) are feedback gain matrices in the feedforward-feedback controller to be designed, v is the external input, B (v) is a matrix coefficient for the estimated value of the observer.
2. The flexible spacecraft attitude maneuver control method based on the disturbance observer according to claim 1, wherein: in the first step, firstly, a dynamic and kinematic equation of the flexible spacecraft is established as follows:
Wherein ω is a spacecraft angular velocity vector, u is a control moment vector, and d is a disturbance moment vector formed by environmental disturbance and unmodeled dynamics; j is a positive inertia matrix of the spacecraft, eta i is an ith solar panel modal displacement vector of the flexible accessory, delta i is a coupling matrix of ith rigid body dynamics and the flexible accessory, Is the damping matrix of the ith flexible accessory, xi i is the corresponding damping,For the damping ratio matrix of the ith flexible accessory, omega × represents the oblique symmetry matrix thereof;
the spacecraft dynamics equation expressed by the euler angle is:
the equations are combined to obtain a second-order spacecraft quasi-linear system model;
Wherein A 2 and A 1 are coefficient matrices.
3. The flexible spacecraft attitude maneuver control method based on the disturbance observer according to claim 1, wherein: in the second step, the designed interference observer is:
Where z is the state vector of the interfering observer, For the estimation of the lumped interference quantity d *,AndThe function vector of the observer to be designed is obtained according to an error system.
4. The flexible spacecraft attitude maneuver control method based on the disturbance observer according to claim 1, wherein: in the second step, the sufficient condition for the existence of the interference observer requires the following formula:
and the interference observer error system:
Is asymptotically stable.
5. The flexible spacecraft attitude maneuver control method based on the disturbance observer according to claim 1, wherein: function vector of disturbance observerAndThe selection method of (1) comprises the following steps:
Wherein the method comprises the steps of
Mu satisfies:
Wherein the method comprises the steps of J pj (p=1, 2,3, j=1, 2, 3) represents a matrix constant related to moment of inertia for the maximum value of euler angular velocity.
6. The flexible spacecraft attitude maneuver control method based on the disturbance observer according to claim 1, wherein: the analytic solution form of the feedback gain matrix in the feedforward-feedback controller to be designed is as follows:
Wherein: v c is a eigenvector matrix, x is the system state, Λ is an optional constant matrix;
Wc(x,Z,Λ)＝B-1(x)(A2(x)ZΛ2+A1(x)ZΛ)
wherein Z is an arbitrarily selected parameter matrix, satisfying the following constraints:
where det [ ] is a matrix determinant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211205694.3A CN115402538B (en) | 2022-09-30 | 2022-09-30 | Flexible spacecraft attitude maneuver control method based on interference observer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211205694.3A CN115402538B (en) | 2022-09-30 | 2022-09-30 | Flexible spacecraft attitude maneuver control method based on interference observer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115402538A CN115402538A (en) | 2022-11-29 |
| CN115402538B true CN115402538B (en) | 2024-08-23 |
Family
ID=84167754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211205694.3A Active CN115402538B (en) | 2022-09-30 | 2022-09-30 | Flexible spacecraft attitude maneuver control method based on interference observer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115402538B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117963168B (en) * | 2023-11-17 | 2024-07-23 | 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) | Flexible spacecraft attitude control method based on full-drive system theory |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843244A (en) * | 2016-06-02 | 2016-08-10 | 北京航空航天大学 | Output feedback-based flexible spacecraft precise attitude control method |
| CN106406086A (en) * | 2016-05-26 | 2017-02-15 | 北京航空航天大学 | Large flexible spacecraft interference compensation method based on sliding mode disturbance observer |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9663252B1 (en) * | 2016-12-07 | 2017-05-30 | Beihang University | Method for attitude controlling based on finite time friction estimation for flexible spacecraft |
| CN107479566A (en) * | 2017-08-25 | 2017-12-15 | 中国科学院长春光学精密机械与物理研究所 | Flexible satellite attitude control method based on three-stage path planning |
| CN110758774B (en) * | 2019-10-25 | 2021-01-15 | 中国科学院数学与系统科学研究院 | Active disturbance rejection attitude control method with flexible attachment and liquid sloshing spacecraft |
| CN113306747B (en) * | 2021-04-27 | 2022-12-20 | 上海卫星工程研究所 | Flexible spacecraft attitude stabilization control method and system based on SO (3) group |
-
2022
- 2022-09-30 CN CN202211205694.3A patent/CN115402538B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406086A (en) * | 2016-05-26 | 2017-02-15 | 北京航空航天大学 | Large flexible spacecraft interference compensation method based on sliding mode disturbance observer |
| CN105843244A (en) * | 2016-06-02 | 2016-08-10 | 北京航空航天大学 | Output feedback-based flexible spacecraft precise attitude control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115402538A (en) | 2022-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105468007B (en) | A kind of flexible satellite track linearisation attitude control method based on interference observer | |
| CN108803649B (en) | A kind of VTOL Reusable Launch Vehicles active disturbance rejection sliding-mode control | |
| CN110347170B (en) | Reusable carrier reentry segment robust fault-tolerant guidance control system and working method | |
| CN107807657B (en) | Flexible spacecraft attitude self-adaptive control method based on path planning | |
| CN106773679A (en) | A kind of spacecraft fault tolerant control method based on angular speed observer | |
| CN107015567B (en) | Super-large scale flexible spacecraft decentralized cooperative control method | |
| CN108804846B (en) | Design method of data-driven attitude controller of non-cooperative target combination spacecraft | |
| Jiang et al. | Novel integral sliding mode control for small-scale unmanned helicopters | |
| CN111198570B (en) | Anti-delay high-precision active disturbance rejection attitude control method based on fixed time differentiator prediction | |
| CN115402538B (en) | Flexible spacecraft attitude maneuver control method based on interference observer | |
| CN113619814A (en) | Method for controlling relative attitude and orbit coupling of final approach section of rendezvous and docking | |
| CN108427272A (en) | Flexible Spacecraft control based on flexible mode observation and vibration suppressing method | |
| Qiao et al. | Adaptive control of missile attitude based on BP–ADRC | |
| Li et al. | Adaptive sliding mode control for spacecraft rendezvous with unknown system parameters and input saturation | |
| Azimi et al. | Stabilization of a large flexible spacecraft using robust adaptive sliding hypersurface and finite element approach | |
| Xiao et al. | Adaptive quaternion-based output feedback control for flexible spacecraft attitude tracking with input constraints | |
| CN115402537B (en) | Flexible spacecraft attitude maneuver control method based on observer | |
| CN113419550B (en) | Output torque saturation anti-interference attitude control method and system for aircraft actuating mechanism | |
| Ju et al. | Quantized predefined-time control for heavy-lift launch vehicles under actuator faults and rate gyro malfunctions | |
| CN104460678B (en) | Spacecraft posture control method based on Sigmoid nonlinear sliding mode function | |
| CN113485396A (en) | Relative orbit and attitude tracking control method for last approach section of rendezvous and docking of spacecraft | |
| CN117284501A (en) | Input-limited flexible spacecraft full-drive attitude saturation control method | |
| CN116382332B (en) | UDE-based fighter plane large maneuver robust flight control method | |
| CN112305917A (en) | Fixed time terminal sliding mode robust fault-tolerant control method and device for liquid-filled spacecraft | |
| CN117022674A (en) | Anti-unwinding flexible spacecraft attitude tracking composite control method |
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 |