CN116540554A - Spacecraft anti-interference quantitative attitude control method based on flywheel dynamics - Google Patents
Spacecraft anti-interference quantitative attitude control method based on flywheel dynamics Download PDFInfo
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Abstract
The invention relates to a spacecraft anti-interference quantitative attitude control method based on flywheel dynamics, which aims at the problems of spacecraft attitude system and input quantization based on flywheel dynamics, firstly, describing spacecraft attitude kinematics and dynamics according to a zero momentum theorem, separating flywheel friction interference by utilizing an angular momentum exchange theorem, and establishing a spacecraft attitude deep coupling model containing the flywheel dynamics by combining a kirchhoff voltage law; secondly, aiming at flywheel friction interference, an interference observer is designed to estimate the flywheel friction interference; thirdly, aiming at input quantization, designing a dynamic boundary of the self-adaptive law online learning quantized signal; and finally, constructing an anti-interference quantitative controller based on the interference observer and the adaptive law, and realizing high-precision tracking control of the spacecraft attitude. The method can effectively solve the problem of input quantification of the spacecraft attitude system under the consideration of flywheel dynamics, improves the attitude tracking precision of the spacecraft, and can be used for the problem of high-precision alignment of the spacecraft in space tasks such as target capturing, inter-satellite communication and the like.
Description
Technical Field
The invention belongs to the field of spacecraft attitude control, and particularly relates to an anti-interference quantized attitude control method for a spacecraft based on flywheel dynamics.
Background
With the continuous development of aerospace industry, high-precision earth observation, target tracking, laser chain building and other space tasks have higher and higher requirements on spacecraft attitude tracking precision. However, in the attitude adjustment process of the spacecraft, friction torque exists between the driving motor and the bearing due to rotation of the flywheel of the actuating mechanism, and flywheel error interference caused by the friction torque is important interference in the attitude adjustment of the spacecraft and can negatively influence the stability and the attitude tracking precision of an attitude system. Therefore, under the error interference of the actuating mechanism, the spacecraft needs to have good anti-interference capability so as to ensure the system stability and the attitude tracking precision. On the other hand, with the sequential test of the hierarchical spacecraft, the transmission of the various functional components gradually progresses from wired signal transmission to wireless signal transmission, under which condition the control signals of the spacecraft attitude system are generally transmitted through a communication channel and limited by a limited channel bandwidth, and the control signals need to be quantized to reduce the communication rate while ensuring normal transmission in the channel. The control input is quantized to enable the armature voltage signal to be discretized, and the stability of the spacecraft attitude control system and the accuracy of attitude tracking are seriously affected. Therefore, the spacecraft attitude control system is a hybrid system with both interference and input quantification, and under the complex system, ensuring the stability and high-precision tracking of the spacecraft attitude is a challenging problem.
At present, the prior spacecraft attitude control research mostly ignores the influence of the characteristics of an actuating mechanism on a system, and the external interference is estimated by designing an extended state observer in the literature of a spacecraft high-precision attitude controller design based on a funnel strategy, and the estimated external interference is compensated by combining a performance funnel function design controller, so that the appointed performance control is realized. The chinese patent application CN201810919239.7 considers the dynamic characteristics of the flywheel of the spacecraft actuator, designs an interference observer to estimate the nonlinear term in the flywheel and the external interference, and compensates the interference by using a composite controller, and although a good result is obtained, fails to consider the influence of the quantization of the control input on the system. Input quantization is studied in the work of the chinese patent application CN202010268045.2, and a control moment is input by designing a limited-time attitude controller until an attitude error of an actual attitude and an expected attitude meets a control requirement, however, the design of the controller ignores the influence of interference on a system, so that the high-precision requirement of attitude tracking is difficult to achieve.
In summary, although some results are obtained in the prior art, there is still a shortage of analysis of the influence of the spacecraft actuator on the system, and the research on the problem of high-precision control of such hybrid system with the combination of disturbance and input quantification is still challenging, so that breakthrough of the anti-disturbance control technology under the deep coupling modeling and input quantification of the spacecraft including the actuator dynamics is needed.
Disclosure of Invention
Aiming at the problems that the influence mechanism of an actuating mechanism on a spacecraft attitude control system is not fully considered in the prior art, so that the requirement of high-precision attitude tracking of a spacecraft is difficult to meet, and the defects that the deep coupling modeling of the spacecraft attitude with the dynamic actuating mechanism is considered, and the precise control is carried out under the condition of quantitative interference and input are overcome in the prior art, the invention provides an anti-interference quantized attitude control method for the spacecraft based on flywheel dynamics.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a spacecraft anti-interference quantitative attitude control method based on flywheel dynamics comprises the following steps:
describing spacecraft attitude kinematics and dynamics according to a zero momentum theorem, separating flywheel friction interference by utilizing an angular momentum exchange theorem, and establishing a spacecraft attitude deep coupling model containing flywheel dynamics by combining a kirchhoff voltage law;
secondly, aiming at flywheel friction interference, designing an interference observer to estimate the flywheel friction interference;
thirdly, aiming at input quantization, designing a dynamic boundary of an adaptive law online learning quantized signal;
and fourthly, constructing an anti-interference quantitative controller based on the interference observer and the adaptive law, and realizing high-precision tracking control of the spacecraft attitude.
Further, the first step includes:
(1) Establishing spacecraft attitude kinematics and dynamics according to the zero momentum theorem:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the angular velocity of a spacecraft,/->Is the angular acceleration of the spacecraft; />Is the attitude angle of the spacecraft,is the attitude angle change rate; />Represents the angular velocity of the actuator flywheel, +.>Is the angular acceleration of the flywheel; />And->Respectively representing the rotational inertia of the spacecraft and the rotational inertia of the flywheel; />Is a matrix of mounting structures; transfer matrix->Track angular velocity->Oblique symmetry matrix->Expressed as:
，
，
，
wherein, the liquid crystal display device comprises a liquid crystal display device,，/>and +.>Respectively representing the roll angle, pitch angle and yaw angle of the spacecraft; />The orbit angular velocity of the orbit where the spacecraft is located; />，/>And->Is->Three-axis component of (i.e.)>，Representing a transpose operation;
(2) According to the angular momentum exchange theorem, the following is obtained:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the electromagnetic moment coefficient; />Representing friction torque generated by rotation of the flywheel; />Armature current vector representing flywheel set, armature current +.>Is dynamically satisfied:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing an armature inductance matrix; />Representing an armature resistivity matrix; />Representing a counter potential coefficient matrix; />Representing armature current +.>Is a rate of change of (2); for quantizer->First>Quantizer->Expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing armature voltage signal, ">Indicate->Flywheel item->Representing the number of flywheels; />And->Is a quantizer parameter; />To quantify density->Is->Is->A power of the second; />Representation->Is not limited, dead time of (2); />Is a time series; />Judging the expression condition;
(3) According to the analysis, the spacecraft attitude deep coupling model containing flywheel dynamics is obtained as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing transfer matrix->Is the inverse of (2); />Representing disturbance moment generated by flywheel friction;
definition:
，
，
can verifyWherein->The expression is represented by->A diagonal array of elements; />Is a vector;
therefore, the spacecraft attitude deep coupling model containing flywheel dynamics is converted into a control-oriented spacecraft attitude control system model:
。
further, the interference observer designed in the second step is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing interference->Is determined by the estimation of (a); />Representing observer intermediate variables; />Representing the observer gain.
Further, the adaptive law designed in the third step is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representation->Estimate of->Representation->Reciprocal of->Representation element->Is the minimum value of (a); />And->Respectively correcting parameters and adjusting parameters; />Representation ofDerivative of>，/>For a virtual control signal, expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is a parameter to be designed; />Is->Derivative of>，For the parameters to be designed, < >>Representing the desired attitude angle +.>Is a rate of change of (2); />Representing the inverse operation of the matrix; />Expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is a parameter to be designed; />，Representation->For->Partial derivative of>Representation->For->Partial derivative of>Representation->Is a matrix of units of (a); />Is a known item, +.>Representation->Second derivative of>Representation->Third derivative of>Representation->For->Partial derivative of>Representation->For->Partial derivative of>Representation->For->Partial derivative of>Representation ofFor->Is a partial derivative of (c).
Further, the quantization controller designed in the fourth step is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is constant.
Compared with the prior art, the invention has the beneficial effects that:
aiming at the defects that the prior spacecraft attitude control method cannot fully consider the influence of the actuating mechanism on the system and has the processes of quantification and storage of interference and input, the invention establishes a spacecraft attitude deep coupling model containing flywheel dynamics according to the zero momentum theorem, the angular momentum exchange theorem and kirchhoff voltage law, fully digs the influence of flywheel friction and control voltage signal quantification on the system, designs an interference observer to estimate flywheel error interference caused by the flywheel friction, designs an adaptive law to learn the dynamic boundary of an input quantification signal on line, and constructs a quantification controller with interference compensation based on the interference observer and the adaptive law so as to realize high-precision tracking control of the spacecraft attitude.
Drawings
FIG. 1 is a design flow chart of a spacecraft anti-interference quantitative attitude control method based on flywheel dynamics;
fig. 2 is a control block diagram of a spacecraft anti-interference quantized attitude control method based on flywheel dynamics.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
As shown in fig. 1, the spacecraft anti-interference quantized attitude control method based on flywheel dynamics of the invention comprises the following steps:
describing spacecraft attitude kinematics and dynamics according to a zero momentum theorem, separating flywheel friction interference by utilizing an angular momentum exchange theorem, and establishing a spacecraft attitude deep coupling model containing flywheel dynamics by combining a kirchhoff voltage law;
secondly, aiming at flywheel friction interference, designing an interference observer to estimate the flywheel friction interference;
thirdly, aiming at input quantization, designing a dynamic boundary of an adaptive law online learning quantized signal;
and fourthly, constructing an anti-interference quantitative controller based on the interference observer and the adaptive law, and realizing high-precision tracking control of the spacecraft attitude.
Specifically, the first step includes:
(1) Establishing spacecraft attitude kinematics and dynamics according to the zero momentum theorem:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the angular velocity of a spacecraft,/->Is the angular acceleration of the spacecraft; />Is the attitude angle of the spacecraft,is in the form of gestureAngular rate of change; />Represents the angular velocity of the actuator flywheel, +.>Is the angular acceleration of the flywheel; />And->Respectively representing the rotational inertia of the spacecraft and the rotational inertia of the flywheel; />Is a matrix of mounting structures; transfer matrix->Track angular velocity->Oblique symmetry matrix->Expressed as:
，
，
，
wherein, the liquid crystal display device comprises a liquid crystal display device,，/>and +.>Respectively representing the roll angle, pitch angle and yaw angle of the spacecraft; />The orbit angular velocity of the orbit where the spacecraft is located; />，/>And->Is->Three-axis component of (i.e.)>，Representing a transpose operation;
(2) According to the angular momentum exchange theorem, the following is obtained:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the electromagnetic moment coefficient; />Representing friction torque generated by rotation of the flywheel; />Armature current vector representing flywheel set, armature current +.>Is dynamically satisfied:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing an armature inductance matrix; />Representing an armature resistivity matrix; />Representing a counter potential coefficient matrix; />Representing armature current +.>Is a rate of change of (2); for quantizer->First>Quantizer->Expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing armature voltage signal, ">Indicate->Flywheel item->Representing the number of flywheels; />And->Is a quantizer parameter; />To quantify density->Is->Is->A power of the second; />Representation->Is not limited, dead time of (2); />Is a time series; />Judging the expression condition;
(3) According to the analysis, the spacecraft attitude deep coupling model containing flywheel dynamics is obtained as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing transfer matrix->Is the inverse of (2); />Representing disturbance moment generated by flywheel friction;
definition:
，
，
can verifyWherein->The expression is represented by->A diagonal array of elements; />Is a vector;
therefore, the spacecraft attitude deep coupling model containing flywheel dynamics is converted into a control-oriented spacecraft attitude control system model:
。
further, the interference observer designed in the second step is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing interference->Is determined by the estimation of (a); />Representing observer intermediate variables; />Representing the observer gain.
Further, the adaptive law designed in the third step is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representation->Estimate of->Representation->Reciprocal of->Representation element->Is the minimum value of (a); />And->Respectively correcting parameters and adjusting parameters; />Representation ofDerivative of>，/>For a virtual control signal, expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is a parameter to be designed; />Is->Derivative of>，For the parameters to be designed, < >>Representing the desired attitude angle +.>Is a rate of change of (2); />Representing the inverse operation of the matrix; />Expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is a parameter to be designed; />，Representation->For->Partial derivative of>Representation->For->Partial derivative of>Representation->Is a matrix of units of (a); />Is a known item, +.>Representation->Second derivative of>Representation->Third derivative of>Representation->For->Partial derivative of>Representation->For->Partial derivative of>Representation->For->Partial derivative of>Representation ofFor->Is a partial derivative of (c).
Further, the quantization controller designed in the fourth step is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is constant.
The invention provides a spacecraft anti-interference quantitative attitude control method based on flywheel dynamics, and the control structure of the spacecraft anti-interference quantitative attitude control method is shown in figure 2. As can be seen from fig. 2, spacecraft attitude kinematics and dynamics are affected by flywheel error interference, and the actuator error is estimated by designing an interference observer. For quantization of control voltage signals, an adaptive law is designed to learn the dynamic boundary of quantized signals online. The anti-interference quantized controller is constructed by combining the interference observer and the self-adaptive law, and voltage instructions are given to the executing mechanism to drive the flywheel to act, so that the gesture of the spacecraft is adjusted.
The method of the invention is used for carrying out spacecraft attitude tracking control, can effectively compensate the influence of flywheel errors on a system, effectively inhibit input quantized signals, can realize high-precision control of spacecraft attitude tracking, has the characteristics of high precision and strong robustness when steady-state tracking errors are in an adjustable range near zero, and is suitable for the problem of high-precision alignment of the spacecraft in space tasks such as target capturing, deep space exploration, inter-satellite communication and the like.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
Claims (5)
1. The spacecraft anti-interference quantized attitude control method based on flywheel dynamics is characterized by comprising the following steps of:
describing spacecraft attitude kinematics and dynamics according to a zero momentum theorem, separating flywheel friction interference by utilizing an angular momentum exchange theorem, and establishing a spacecraft attitude deep coupling model containing flywheel dynamics by combining a kirchhoff voltage law;
secondly, aiming at flywheel friction interference, designing an interference observer to estimate the flywheel friction interference;
thirdly, aiming at input quantization, designing a dynamic boundary of an adaptive law online learning quantized signal;
and fourthly, constructing an anti-interference quantitative controller based on the interference observer and the adaptive law, and realizing high-precision tracking control of the spacecraft attitude.
2. The spacecraft anti-interference quantized attitude control method based on flywheel dynamics, according to claim 1, is characterized in that: the first step comprises:
(1) Establishing spacecraft attitude kinematics and dynamics according to the zero momentum theorem:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the angular velocity of a spacecraft,/->Is the angular acceleration of the spacecraft; />Is the attitude angle of the spacecraft +.>Is the attitude angle change rate; />Represents the angular velocity of the actuator flywheel, +.>Is the angular acceleration of the flywheel; />And->Respectively representing the rotational inertia of the spacecraft and the rotational inertia of the flywheel; />Is a matrix of mounting structures; transfer matrix->Track angular velocity->Oblique symmetry matrix->Expressed as:
，
，
，
wherein, the liquid crystal display device comprises a liquid crystal display device,，/>and +.>Respectively representing the roll angle, pitch angle and yaw angle of the spacecraft; />The orbit angular velocity of the orbit where the spacecraft is located; />，/>And->Is->Three-axis component of (i.e.)>，/>Representing a transpose operation;
(2) According to the angular momentum exchange theorem, the following is obtained:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing the electromagnetic moment coefficient; />Representing friction torque generated by rotation of the flywheel; />Armature current vector representing flywheel set, armature current +.>Is dynamically satisfied:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing an armature inductance matrix; />Representing an armature resistivity matrix; />Representing a counter potential coefficient matrix; />Representing armature current +.>Is a rate of change of (2); for quantizer->First>Quantizer->Expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing armature voltage signal, ">Indicate->Flywheel item->Representing the number of flywheels;and->Is a quantizer parameter; />To quantify density->Is->A kind of electronic deviceA power of the second; />Representation->Is not limited, dead time of (2); />Is a time series; />Judging the expression condition;
(3) According to the analysis, the spacecraft attitude deep coupling model containing flywheel dynamics is obtained as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing transfer matrix->Is the inverse of (2); />Representing disturbance moment generated by flywheel friction;
definition:
，
，
can verifyWherein->The expression is represented by->A diagonal array of elements; />Is a vector;
therefore, the spacecraft attitude deep coupling model containing flywheel dynamics is converted into a control-oriented spacecraft attitude control system model:
。
3. the spacecraft anti-interference quantized attitude control method based on flywheel dynamics according to claim 2, wherein the method is characterized by comprising the following steps: the interference observer designed in the second step is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representing interference->Is determined by the estimation of (a); />Representing observer intermediate variables; />Representing the observer gain.
4. The spacecraft anti-interference quantized attitude control method based on flywheel dynamics according to claim 3, wherein the method is characterized by comprising the following steps: the self-adaptive law designed in the third step is as follows:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,representation->Estimate of->Representation->Reciprocal of->Representation element->Is the minimum value of (a); />And->Respectively correcting parameters and adjusting parameters; />Representation->Is used for the purpose of determining the derivative of (c),/>，/>for a virtual control signal, expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is a parameter to be designed; />Is->Derivative of>，For the parameters to be designed, < >>Representing the desired attitude angle +.>Is a rate of change of (2); />Representing the inverse operation of the matrix; />Expressed as:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is a parameter to be designed; />，Representation->For->Partial derivative of>Representation->For->Partial derivative of>Representation->Is a matrix of units of (a); />Is a known item, +.>Representation->Second derivative of>Representation->Third derivative of>Representation->For->Partial derivative of>Representation->For->Partial derivative of>Representation->For->Partial derivative of>Representation ofFor->Is a partial derivative of (c).
5. The spacecraft anti-interference quantized attitude control method based on flywheel dynamics, which is characterized in that: the quantization controller designed in the fourth step is:
，
wherein, the liquid crystal display device comprises a liquid crystal display device,is constant.
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