The invention discloses an anti-unwinding flexible spacecraft attitude tracking compound control method, which comprises the following steps of: firstly, establishing a flexible spacecraft attitude tracking error kinematics and dynamics model based on a quaternion method; secondly, regarding the vibration mode of the flexible accessory, the external environment interference and the model uncertainty as lumped interference, designing a generalized proportional-integral observer, and observing and estimating the lumped interference; finally, a nonsingular terminal sliding mode surface is constructed, lumped disturbance observation estimation compensation of the generalized proportional-integral observer is used as a feedforward signal, and a feedforward-feedback anti-backing-off attitude tracking composite controller is designed. By determining the appropriate control gain, the global finite time of the closed-loop attitude tracking error system is stable, and the anti-unwinding effect can be achieved. According to the method, finite time attitude tracking of the flexible spacecraft can be realized, the attitude tracking precision is high, and the robustness is strong.

    本发明公开了一种抗退绕挠性航天器姿态跟踪复合控制方法,首先,基于四元数法,建立挠性航天器姿态跟踪误差运动学和动力学模型;然后,将挠性附件振动模态、外部环境干扰和模型不确定性视为集总干扰,设计广义比例积分观测器,对集总干扰进行观测和估计;最后,构造非奇异终端滑模面,将广义比例积分观测器的集总干扰观测估计补偿作为前馈信号,设计前馈‑反馈抗退绕姿态跟踪复合控制器。通过确定合适的控制增益,使闭环姿态跟踪误差系统全局有限时间稳定,且可实现抗退绕效果。本发明可实现挠性航天器的有限时间姿态跟踪,姿态跟踪精度高,鲁棒性强。


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    Titel :

    Anti-unwinding flexible spacecraft attitude tracking compound control method


    Weitere Titelangaben:

    一种抗退绕挠性航天器姿态跟踪复合控制方法


    Beteiligte:
    ZHENG QINGYUAN (Autor:in) / WU LIPING (Autor:in) / YU CHONGYU (Autor:in)

    Erscheinungsdatum :

    2023-11-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64G Raumfahrt , COSMONAUTICS




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